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Dynamic Obstacle Avoidance in Multi-Robot Motion Planning Using Prediction Principle in Real Environment

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Academic year: 2020

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Figure

Figure 1. Current and next position of the
Figure 3. Linear prediction of the path of the dynamic obstacle and the maximization of the Euclidean distance between robot current position and predicted next position of dynamic obstacle
Figure 6. Screenshot showing the path of Dynamic obstacle avoidance by the robot J in the world-map when 10 robots together are considered and prediction principle is used
Figure 13. The complete world-map showing the Robots (R) during online motion, its trajectory of motion of the robot-1 isshown is red line and that of of robot-2 is shown in blue line,the obstacles, the goal (G) and the boundary
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