確率的衝突回避を伴う剛体フォーメーションの分散計画
Distributed Planning for Rigid Robot Formations with Probabilistic Collision Avoidance
ロボット群が剛体フォーメーションを維持しつつ移動する際に、衝突確率を上限以下に抑える分散計画法を提案し、シミュレーションと実機実験で検証した。
著者: Jeppe Heini Mikkelsen, Vit Kratky, Roberto Galeazzi, Martin Saska, Matteo Fumagalli
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots map their desired velocities into a corresponding desired change in the formation parameters and apply a consensus step to reach agreement on the desired formation and a constraint satisfaction step to ensure collision avoidance within the formation. The constraint set is found such that the probability of collision remains below an upper bound. The method was demonstrated in a manual teleoperation scenario both in simulation and a real-world experiment.
