複数アッカーマン車型ロボットのための分散型生涯経路計画
Decentralized Lifelong Path Planning for Multiple Ackerman Car-Like Robots
連続空間で動作する複数の車型ロボットが、生涯にわたり新しいタスクを継続的に処理するための、高性能な集中型・分散型経路計画手法を提案し、シミュレーションと実機で有効性を確認した。
著者: Teng Guo, Jingjin Yu
分類: cs.RO
原文アブストラクト
Path planning for multiple non-holonomic robots in continuous domains constitutes a difficult robotics challenge with many applications. Despite significant recent progress on the topic, computationally efficient and high-quality solutions are lacking, especially in lifelong settings where robots must continuously take on new tasks. In this work, we make it possible to extend key ideas enabling state-of-the-art (SOTA) methods for multi-robot planning in discrete domains to the motion planning of multiple Ackerman (car-like) robots in lifelong settings, yielding high-performance centralized and decentralized planners. Our planners compute trajectories that allow the robots to reach precise $SE(2)$ goal poses. The effectiveness of our methods is thoroughly evaluated and confirmed using both simulation and real-world experiments.
