Behavior-based multi-robot collision avoidance
Behavior-based multi-robot collision avoidance
复制标题
基于行为的多机器人碰撞避免
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
Bernhard Nebel
中科院分区：
文献类型：
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作者：
Dali Sun;A. Kleiner;Bernhard Nebel
同时调度运输任务的自主机器人团队在行业中发挥着越来越重要的作用。本文研究了大型机器人团队中的多机器人运动规划问题，并结合分散式路径规划方法和群技术提出了一种解耦方法。机器人不需要中心协调，而是根据上下文直接选择适当的行为，以保持与其他机器人的合作并解决路径冲突。我们的实验表明，解决方案的质量和我们的方法的可扩展性显着优于传统的解耦路径规划方法。此外，与传统的群体方法相比，我们的方法可以广泛应用于大规模的环境。
Autonomous robot teams that simultaneously dispatch transportation tasks are playing a more and more important role in the industry. In this paper we consider the multi-robot motion planning problem in large robot teams and present a decoupled approach by combining decentralized path planning methods and swarm technologies. Instead of a central coordination, a proper behavior which is directly selected according to the context is used by the robot to keep cooperating with others and to resolve path collisions. We show experimentally that the quality of solutions and the scalability of our method are significantly better than those of conventional decoupled path planning methods. Furthermore, compared to conventional swarm approaches, our method can be widely applied in large-scale environments.