Collision Free Navigation with Interacting, Non-Communicating Obstacles
Collision Free Navigation with Interacting, Non-Communicating Obstacles
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具有交互、非通信障碍物的无碰撞导航
DOI：
10.23919/acc50511.2021.9482885
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
M. Janković
中科院分区：
文献类型：
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作者：
M. Santillo;M. Janković
在本文中，我们考虑了在其他智能体密集的区域中的导航和运动控制问题。我们提出了一种算法，该算法在没有显式通信的情况下，根据它所拥有的信息，计算出所有代理的最佳控制动作，并实现自己的控制动作。值得注意的是，主机代理(执行算法的代理)计算其他代理计算的和观察到的控制动作之间的差异，并将它们作为已知扰动处理，反馈到基于稳健控制屏障函数(RCBF)的二次规划中。由于另一个代理的计算控制动作依赖于先前使用的扰动估计，因此创建了反馈环路。在两个智能体相互作用的情况下，证明了反馈回路的稳定性，并建立了约束遵守方面的性能保证。这适用于其他代理是否执行相同的算法。
In this paper we consider the problem of navigation and motion control in an area densely populated with other agents. We propose an algorithm that, without explicit communication and based on the information it has, computes the best control action for all the agents and implements its own. Notably, the host agent (the agent executing the algorithm) computes the differences between the other agents' computed and observed control actions and treats them as known disturbances that are fed back into a robust control barrier function (RCBF) based quadratic program. A feedback loop is created because the computed control action for another agent depends on the previously used disturbance estimate. In the case of two interacting agents, stability of the feedback loop is proven and a performance guarantee in terms of constraint adherence is established. This holds whether the other agent executes the same algorithm or not.