不確実性を考慮したバッファ付きボロノイセルによる分散型確率的マルチロボット衝突回避
Decentralized Probabilistic Multi-Robot Collision Avoidance Using Buffered Uncertainty-Aware Voronoi Cells
各ロボットの位置・センシング不確実性をガウス分布でモデル化し、確率制約付きのバッファ付きボロノイセル(B-UAVC)を毎ステップ構築することで、通信なしの分散制御により衝突確率を閾値以下に保つ手法を提案した。
著者: Hai Zhu, Bruno Brito, Javier Alonso-Mora
分類: cs.RO
原文アブストラクト
In this paper, we present a decentralized and communication-free collision avoidance approach for multi-robot systems that accounts for both robot localization and sensing uncertainties. The approach relies on the computation of an uncertainty-aware safe region for each robot to navigate among other robots and static obstacles in the environment, under the assumption of Gaussian-distributed uncertainty. In particular, at each time step, we construct a chance-constrained buffered uncertainty-aware Voronoi cell (B-UAVC) for each robot given a specified collision probability threshold. Probabilistic collision avoidance is achieved by constraining the motion of each robot to be within its corresponding B-UAVC, i.e. the collision probability between the robots and obstacles remains below the specified threshold. The proposed approach is decentralized, communication-free, scalable with the number of robots and robust to robots' localization and sensing uncertainties. We applied the approach to single-integrator, double-integrator, differential-drive robots, and robots with general nonlinear dynamics. Extensive simulations and experiments with a team of ground vehicles, quadrotors, and heterogeneous robot teams are performed to analyze and validate the proposed approach.
