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A Collision Avoidance Algorithm for Idle Robots in Multi-robot System

Multi-robot systems (MRSs) play vital roles in manufacturing systems and logistics systems. In order to improve the efficiency of MRSs, we propose an idle robot collision avoidance algorithm(IRCAA) for idle robots to give way for working robots. In the proposed method, idle robots stop in place for new tasks without returning to robot stations. Once an idle robot gets in the way of working robots, IRCAA will find an avoidance point (AP) for the idle robot to give way. Additionally, no new block or deadlock occurs when the idle robot arrives at the AP. The proposed method in this paper is effective and able to improve the efficiency of MRSs, which is verified by both simulation experiments and actual industrial projects.