空間利用率最適化による効率的なマルチロボット経路計画
Optimizing Space Utilization for More Effective Multi-Robot Path Planning
分散型マルチロボット経路計画において、空間利用率を最適化するヒューリスティックSU-Iを導入し、経路の最適性を保ちつつ混雑と計算時間を大幅に削減する手法を提案した。
著者: Shuai D. Han, Jingjin Yu
分類: cs.RO
原文アブストラクト
We perform a systematic exploration of the principle of Space Utilization Optimization (SUO) as a heuristic for planning better individual paths in a decoupled multi-robot path planner, with applications to both one-shot and life-long multi-robot path planning problems. We show that the decentralized heuristic set, SU-I, preserves single path optimality and significantly reduces congestion that naturally happens when many paths are planned without coordination. Integration of SU-I into complete planners brings dramatic reductions in computation time due to the significantly reduced number of conflicts and leads to sizable solution optimality gains in diverse evaluation scenarios with medium and large maps, for both one-shot and life-long problem settings.
