局所情報のみで動くマルチロボットの完全分散型動作調整戦略
A fully distributed motion coordination strategy for multi-robot systems with local information
各ロボットが速度・入力制約と局所情報のみを持つ現実的な条件下で、セル分割と動的な計画順序付けによりデッドロックを避けつつ経路と軌道を二段階で計画する完全分散型の動作調整手法を提案し、シミュレーションで有効性を示した。
著者: Pian Yu, Dimos V. Dimarogonas
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only local view and local information, a fully distributed multi-robot motion coordination strategy is proposed. Building on top of a cell decomposition, a conflict detection algorithm is presented first. Then, a rule is proposed to assign dynamically a planning order to each pair of neighboring robots, which is deadlock-free. Finally, a two-step motion planning process that combines fixed-path planning and trajectory planning is designed. The effectiveness of the resulting solution is verified by a simulation example.
