マルチコプター群の分散型時空間軌道計画
Decentralized Spatial-Temporal Trajectory Planning for Multicopter Swarms
MINCO軌道表現をマルチエージェントに拡張し、群れの協調と障害物回避を両立する分散型時空間軌道計画をミリ秒で解く手法を提案し、ベンチマークと実機実験で有効性を示した。
著者: Xin Zhou, Zhepei Wang, Xiangyong Wen, Jiangchao Zhu, Chao Xu, Fei Gao
分類: cs.RO
原文アブストラクト
Multicopter swarms with decentralized structure possess the nature of flexibility and robustness, while efficient spatial-temporal trajectory planning still remains a challenge. This report introduces decentralized spatial-temporal trajectory planning, which puts a well-formed trajectory representation named MINCO into multi-agent scenarios. Our method ensures high-quality local planning for each agent subject to any constraint from either the coordination of the swarm or safety requirements in cluttered environments. Then, the local trajectory generation is formulated as an unconstrained optimization problem that is efficiently solved in milliseconds. Moreover, a decentralized asynchronous mechanism is designed to trigger the local planning for each agent. A systematic solution is presented with detailed descriptions of careful engineering considerations. Extensive benchmarks and indoor/outdoor experiments validate its wide applicability and high quality. Our software will be released for the reference of the community.
