Coordination of multiple mobile robots

In this thesis, development of a method regarding the multiple mobile robots (vehicles) systems performing predefined tasks without communication between each other while avoiding collisions is aimed. Here the main problem is collision avoidance. In literature, the concept of navigation with velocity obstacles given as a solution has achieved successful results. The aim of this concept is to determine the colliding velocity sets with using relative velocity of a vehicle according to a moving object and to prevent collision by choosing a new velovity vector outside of this set. In the recent studies "velocity obstacle" based methods has been improved and solutions for vehicles acting in the same manner are put into practice. "Reciprocal Velocity Obstacles", "Acceleration Velocity Obstacle" and "Hybrid Velocity Obstacle" are some of them. Researches until today show that vehicle dynamics, parking problem and computational load are not considered at all. Reducing the computational load by keeping the algorithm in a basic form is one reason here. In the thesis, using this information, a new method has been developed and applied on mobile robots.