空中スウォームのための集中型衝突回避多項式軌道と目標割り当て
Centralized Collision-free Polynomial Trajectories and Goal Assignment for Aerial Swarms
複数の飛行ロボットに対し、目標割り当てと多項式時間軌道計画を組み合わせて集中型に計算し、出発遅延や高度割り当てで衝突を解消することで、数千機規模でも計画可能な手法を提案した。
著者: Benjamin Gravell, Tyler Summers
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Computationally tractable methods are developed for centralized goal assignment and planning of collision-free polynomial-in-time trajectories for systems of multiple aerial robots. The method first assigns robots to goals to minimize total time-in-motion based on initial trajectories. By coupling the assignment and trajectory generation, the initial motion plans tend to require only limited collision resolution. The plans are then refined by checking for potential collisions and resolving them using either start time delays or altitude assignment. Numerical experiments using both methods show significant reductions in the total time required for agents to arrive at goals with only modest additional computational effort in comparison to state-of-the-art prior work, enabling planning for thousands of agents.
