SPF-EMPCプランナ：不確実性を伴う複雑環境向けリアルタイム複数ロボット軌道計画
SPF-EMPC Planner: A real-time multi-robot trajectory planner for complex environments with uncertainties
安全確率場と拡張状態モデル予測制御を組み合わせ、動的障害物や状態観測の不確実性がある複雑環境で複数ロボットをリアルタイムに安全航行させる軌道計画手法を提案した。
著者: Peng Liu, Pengming Zhu, Zhiwen Zeng, Xuekai Qiu, Yu Wang, Huimin Lu
分類: cs.RO
原文アブストラクト
In practical applications, the unpredictable movement of obstacles and the imprecise state observation of robots introduce significant uncertainties for the swarm of robots, especially in cluster environments. However, existing methods are difficult to realize safe navigation, considering uncertainties, complex environmental structures, and robot swarms. This paper introduces an extended state model predictive control planner with a safe probability field to address the multi-robot navigation problem in complex, dynamic, and uncertain environments. Initially, the safe probability field offers an innovative approach to model the uncertainty of external dynamic obstacles, combining it with an unconstrained optimization method to generate safe trajectories for multi-robot online. Subsequently, the extended state model predictive controller can accurately track these generated trajectories while considering the robots' inherent model constraints and state uncertainty, thus ensuring the practical feasibility of the planned trajectories. Simulation experiments show a success rate four times higher than that of state-of-the-art algorithms. Physical experiments demonstrate the method's ability to operate in real-time, enabling safe navigation for multi-robot in uncertain environments.
