A Trust Based Navigation Control for Multi-Robot to Avoid Deadlock in a Static Environment Using Improved Krill Herd
A Trust Based Navigation Control for Multi-Robot to Avoid Deadlock in a Static Environment Using Improved Krill Herd
复制标题
基于信任的多机器人导航控制，利用改进的磷虾群避免静态环境中的死锁
DOI：
10.1109/icirca.2018.8597438
复制
发表时间：
2018
期刊：
影响因子：
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通讯作者：
Manas Ranjan Kabat
中科院分区：
文献类型：
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作者：
D. Chandrasekhar Rao;Manas Ranjan Kabat
近年来，机器人技术在许多应用领域成为领先的竞争者。大多数应用采用多个移动机器人来高效地完成并行任务。在大多数的多机器人应用中，虽然机器人在相同的环境中工作，但可能没有相同的目标。在多机器人导航中，机器人可能会遇到死锁的情况，机器人面对彼此，试图找到安全的路径逃离并到达目标。在这种情况下，机器人之间的合作和相互信任有助于快速完成任务。本文旨在开发一种基于信任的导航控制算法，该算法基于机器人的服务来评估机器人的可信度，并利用它来确定机器人的下一个路径点，以避免死锁。通过仿真验证了该方法的有效性。仿真结果表明，该方法能够有效地解决多机器人导航规划中出现的死锁问题。
In recent years, robotics emerged as a leading contender in many applications. Most of the applications employed multiple mobile robot to accomplish parallel tasks efficiently. In most of the multi-robot applications, though robots work in the same environment, but may not have the same objective. In multi-robot navigation, robots may encounter a deadlock situation, where robots faced each other and trying to find the safe path to escape and reach their target. In such situation, it can be advantageous for robots to cooperate and trust each other to finish their assignments quickly. This paper aims to develop a trust based navigation control algorithm that evaluates the trustworthiness of robots based on their service and utilize it to decide the next waypoint of robots to avoid the deadlock. The effectiveness of the proposed method is validated through simulation. The simulation outcome reveals that the proposed method is efficient for navigation planning of multi-robot to avoid the deadlock situation.