The Multi-Agent Navigation Transformation: Tuning-Free Multi-Robot Navigation
The Multi-Agent Navigation Transformation: Tuning-Free Multi-Robot Navigation
复制标题
多智能体导航转型：免调整多机器人导航
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
S. Loizou
中科院分区：
文献类型：
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作者：
S. Loizou
针对二维环境中多个任意形状障碍物的分散导航问题，提出了一种新的导航方法。该方法基于导航变换和基于调和函数的导航函数的新概念。本文提出了导航变换的一个版本--多智能体导航变换，将工作空间实体移动产生的几何复杂的拓扑映射到简单的拓扑，从而能够构造基于调和函数的导航函数。通过构造保证得到的矢量场不存在局部极小点。提出了一种候选多智能体导航变换的构造方法。除了理论上的保证外，利用所提出的结构，通过非平凡的计算机仿真证明了所提出的方法的有效性。
This paper proposes a novel methodology for decentralized multi-robot navigation with multiple arbitrarily shaped obstacles in 2-dimensional environments. The proposed methodology is based on the novel concepts of the Navigation Transformation and the Harmonic Function based Navigation Functions. A version of the Navigation Transformation the Multi-Agent Navigation Transformation is proposed in this paper to map geometrically complex topologies resulting from moving workspace entities to simple topologies enabling the construction of Harmonic Function based Navigation Functions. The resulting vector field is guaranteed to be free of local minima by construction. A construction of a candidate Multi-Agent Navigation Transformation is proposed. In addition to the theoretical guarantees, the effectiveness of the proposed methodology is demonstrated through non-trivial computer simulations utilizing the proposed construction.