マルチロボットチームのための衝突回避を考慮した時間最適経路パラメータ化
Collision-free time-optimal path parameterization for multi-robot teams
複数台の車両型ロボットの経路の実行時間を最小化するため、優先度キューと時空間グラフを用いて衝突を避けつつ各ロボットの速度を調整するTOPPアルゴリズムを提案し、シミュレーションと実機実験で従来手法より10〜20%の時間短縮を達成した。
著者: Katherine Mao, Igor Spasojevic, Malakhi Hopkins, M. Ani Hsieh, Vijay Kumar
分類: cs.RO
原文アブストラクト
Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent actuation constraints. We propose a Time-Optimal Path Parameterization (TOPP) algorithm for multiple car-like agents, where the modulation of the timing of every robot along its assigned path is employed to ensure collision avoidance and dynamic feasibility. This is achieved through the use of a priority queue to determine the order of trajectory execution for each robot while taking into account all possible collisions with higher priority robots in a spatiotemporal graph. We show a 10-20% reduction in makespan against existing state-of-the-art methods and validate our approach through simulations and hardware experiments.
