Energy-Optimal Motion Planning for Agents: Barycentric Motion and Collision Avoidance Constraints
Energy-Optimal Motion Planning for Agents: Barycentric Motion and Collision Avoidance Constraints
复制标题
代理的能量最优运动规划：重心运动和碰撞避免约束
DOI：
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
Andreas A. Malikopoulos
中科院分区：
文献类型：
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作者：
Logan E. Beaver;M. Dorothy;C. Kroninger;Andreas A. Malikopoulos
随着机器人群系统的出现，为能源消耗和安全性提供强有力的保证以最大限度地提高系统性能变得越来越重要。实现这些保证的一种方法是通过约束驱动控制，其中代理寻求在一组安全和任务约束的情况下最大限度地减少能源消耗。在本文中，我们为具有积分器动力学的能量最小化代理提供了等效的充分必要最优性条件，该条件仅取决于代理的状态和控制动作。特别是，我们表明代理在无约束和约束轨迹之间的过渡时必须具有连续的控制输入。此外，我们还提出并分析了用于群体约束驱动控制的重心运动和防撞约束。
As robotic swarm systems emerge, it is increasingly important to provide strong guarantees on energy consumption and safety to maximize system performance. One approach to achieve these guarantees is through constraint-driven control, where agents seek to minimize energy consumption subject to a set of safety and task constraints. In this paper, we provide an equivalent sufficient and necessary optimality condition for an energy-minimizing agent with integrator dynamics that only depends on the state and control actions of the agent. In particular, we show that the agent must have a continuous control input at the transition between unconstrained and constrained trajectories. In addition, we present and analyze barycentric motion and collision avoidance constraints to be used in constraint-driven control of swarms.