多軸スワーブ駆動AMRのための掃引体積を考慮した軌道計画とMPC追従
Swept Volume-Aware Trajectory Planning and MPC Tracking for Multi-Axle Swerve-Drive AMRs
多軸スワーブ駆動の自律移動ロボットに対し、旋回時の掃引体積を最小化するSDF経路計画と、各車輪の独立操舵を扱うMPC追従を組み合わせ、狭所でも高精度・高安全に走行できる枠組みを提案した。
著者: Tianxin Hu, Shenghai Yuan, Ruofei Bai, Xinghang Xu, Yuwen Liao, Fen Liu, Lihua Xie
分類: cs.RO
原文アブストラクト
Multi-axle autonomous mobile robots (AMRs) are set to revolutionize the future of robotics in logistics. As the backbone of next-generation solutions, these robots face a critical challenge: managing and minimizing the swept volume during turns while maintaining precise control. Traditional systems designed for standard vehicles often struggle with the complex dynamics of multi-axle configurations, leading to inefficiency and increased safety risk in confined spaces. Our innovative framework overcomes these limitations by combining swept volume minimization with Signed Distance Field (SDF) path planning and model predictive control (MPC) for independent wheel steering. This approach not only plans paths with an awareness of the swept volume but actively minimizes it in real-time, allowing each axle to follow a precise trajectory while significantly reducing the space the vehicle occupies. By predicting future states and adjusting the turning radius of each wheel, our method enhances both maneuverability and safety, even in the most constrained environments. Unlike previous works, our solution goes beyond basic path calculation and tracking, offering real-time path optimization with minimal swept volume and efficient individual axle control. To our knowledge, this is the first comprehensive approach to tackle these challenges, delivering life-saving improvements in control, efficiency, and safety for multi-axle AMRs. Furthermore, we will open-source our work to foster collaboration and enable others to advance safer, more efficient autonomous systems.
