Pareto Optimal Multirobot Motion Planning
Pareto Optimal Multirobot Motion Planning
复制标题
DOI：
10.1109/tac.2020.3025870
复制
发表时间：
2021-09
影响因子：
6.8
通讯作者：
Guoxiang Zhao;Minghui Zhu
中科院分区：
文献类型：
--
作者：
Guoxiang Zhao;Minghui Zhu
本文研究了一类多机器人协调问题，其中一组机器人的目标是以最短的时间到达目标区域，并避免与障碍物和其他机器人的碰撞。提出了一种新的数值算法，以确定帕累托最优解，没有机器人可以单方面减少自己的旅行时间，而不延长别人的。该算法的一致逼近epigraphical配置文件的意义上是保证使用集值数值分析。在室内多机器人平台上的实验和计算机仿真表明了该算法的实时性，它能够快速地返回一个可行的控制策略，该策略安全地将机器人引导到它们的目标区域，并且如果给予更多的时间，则它保持改进策略最优性。
This article studies a class of multirobot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to identify the Pareto optimal solutions where no robot can unilaterally reduce its traveling time without extending others’. The consistent approximation of the algorithm in the epigraphical profile sense is guaranteed using set-valued numerical analysis. Experiments on an indoor multirobot platform and computer simulations show the anytime property of the proposed algorithm, i.e., it is able to quickly return a feasible control policy that safely steers the robots to their goal regions and it keeps improving policy optimality if more time is given.