計測不確かさ下での高速な相互衝突回避
Fast Reciprocal Collision Avoidance Under Measurement Uncertainty
ノイズを含むオンボードセンサのみで互いを計測する移動ロボット群に対し、凸最適化に基づく分散型衝突回避アルゴリズムを提案し、相互衝突回避の保証と2D/3Dシミュレーションでの有効性を示した。
著者: Guillermo Angeris, Kunal Shah, Mac Schwager
分類: math.OC, cs.RO
原文アブストラクト
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors with no inter-agent communication. Under some mild conditions, we provide guarantees on mutual collision avoidance for a broad class of policies including the one presented. Additionally, we provide numerical examples of computational performance and show that, in both 2D and 3D simulations, all agents avoid each other and reach their desired goals in spite of their uncertainty about the locations of other agents.
