A spatio-temporal reference trajectory planner approach to collision-free continuum deformation coordination
A spatio-temporal reference trajectory planner approach to collision-free continuum deformation coordination
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DOI：
10.1016/j.automatica.2022.110255
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发表时间：
2022-08
期刊：
影响因子：
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通讯作者：
H. Rastgoftar;I. Kolmanovsky
中科院分区：
文献类型：
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作者：
H. Rastgoftar;I. Kolmanovsky
提出了一种时空参考轨迹规划器方法，用于安全地规划多智能体系统（MAS）在障碍物环境中的连续变形协调。我们制定了一个所需的n维连续变形作为一个领导者-追随者的问题，由n+ 1个领导者引导，然后通过与领导者或与邻近代理人直接通信的其余追随者代理。为了规划一个安全的连续变形协调，我们首先提供了充分的条件，智能体和障碍物之间的碰撞避免。然后，我们空间优化的连续体变形协调使用A* 搜索，以确定领导者的理想的航路点在一个充满障碍的环境。领导者所需的航路点是通过C1连续路径连接的，这些路径是由样条曲线拟合方法分配的。然后通过规划分段恒定参考输入来确定领导者的期望轨迹，使得旅行时间最小化并且确保连续体变形协调的安全性。
This paper proposes a spatio-temporal reference trajectory planner approach to safely plan continuum deformation coordination of a multi-agent system (MAS) in an obstacle-laden environment. We formulate a desired n-D continuum deformation as a leader–follower problem guided by n+ 1 leaders and followed by the remaining follower agents either through direct communication with leaders or communication with neighboring agents. To plan a safe continuum deformation coordination, we first provide sufficient conditions for inter-agent and obstacle collision avoidance. Then, we spatially optimize the continuum deformation coordination using the A* search to determine leaders’ desired waypoints in an obstacle-laden environment. Leaders’ desired waypoints are connected through C 1 continuous paths that are assigned by the spline curve fitting method. The desired trajectories of the leaders are then determined by planning a piece-wise constant reference input such that travel time is minimized and safety of the continuum deformation coordination is ensured.