多面体形状ロボットの分散マルチロボット衝突回避のための速度障害物
Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems
多面体形状のロボット間の衝突回避のため、頂点座標と相手の状態から速度障害物を最適化なしで構築する手法を提案し、分散ナビゲーションに応用して大規模テストで有効性を示した。
著者: Jihao Huang, Jun Zeng, Xuemin Chi, Koushil Sreenath, Zhitao Liu, Hongye Su
分類: cs.RO, cs.SY, eess.SY, math.OC
原文アブストラクト
Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex or non-convex optimization problem with positive distance constraints between robots, which limits real-time performance and scalability. Additionally, generating collision-free behavior for polytopic-shaped robots is harder due to implicit and non-differentiable distance functions between polytopes. In this paper, we extend the concept of velocity obstacle (VO) principle for polytopic-shaped robots and propose a novel approach to construct the VO in the function of vertex coordinates and other robot's states. Compared with existing work about obstacle avoidance between polytopic-shaped robots, our approach is much more computationally efficient as the proposed approach for construction of VO between polytopes is optimization-free. Based on VO representation for polytopic shapes, we later propose a navigation approach for distributed multi-robot systems. We validate our proposed VO representation and navigation approach in multiple challenging scenarios including large-scale randomized tests, and our approach outperforms the state of art in many evaluation metrics, including completion rate, deadlock rate, and the average travel distance.
