補間ブリッジを用いた効率的なマルチエージェント大域ナビゲーション
Efficient Multi-Agent Global Navigation Using Interpolating Bridges
狭所や混雑領域に事前計算したブリッジを補間して、多数のエージェントの衝突回避大域経路をリアルタイムに生成する手法を提案した。
著者: Liang He, Jia Pan, Dinesh Manocha
分類: cs.RO
原文アブストラクト
We present a novel approach for collision-free global navigation for continuous-time multi-agent systems with general linear dynamics. Our approach is general and can be used to perform collision-free navigation in 2D and 3D workspaces with narrow passages and crowded regions. As part of pre-computation, we compute multiple bridges in the narrow or tight regions in the workspace using kinodynamic RRT algorithms. Our bridge has certain geometric characteristics, that en- able us to calculate a collision-free trajectory for each agent using simple interpolation at runtime. Moreover, we combine interpolated bridge trajectories with local multi-agent navigation algorithms to compute global collision-free paths for each agent. The overall approach combines the performance benefits of coupled multi-agent algorithms with the pre- computed trajectories of the bridges to handle challenging scenarios. In practice, our approach can handle tens to hundreds of agents in real-time on a single CPU core in 2D and 3D workspaces.
