Scalable distributed algorithms for multi-robot near-optimal motion planning
Scalable distributed algorithms for multi-robot near-optimal motion planning
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DOI：
10.1109/cdc40024.2019.9029416
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发表时间：
2019-12
期刊：
影响因子：
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通讯作者：
Guoxiang Zhao;Minghui Zhu
中科院分区：
文献类型：
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作者：
Guoxiang Zhao;Minghui Zhu
本文研究了一类多个单机器人以最少的旅行时间安全到达各自目标区域的运动规划问题。我们提出了一个分布式算法，它集成了解耦的最优反馈规划和分布式冲突解决。碰撞避免和有限时间到达目标区域正式保证。此外，所提出的算法的计算复杂度是独立的机器人数量。一组模拟进行验证的可扩展性和近最优的算法。
This paper investigates a class of motion planning problems where multiple unicycle robots desire to safely reach their respective goal regions with minimal traveling times. We present a distributed algorithm which integrates decoupled optimal feedback planning and distributed conflict resolution. Collision avoidance and finite-time arrival at the goal regions are formally guaranteed. Further, the computational complexity of the proposed algorithm is independent of the robot number. A set of simulations are conduct to verify the scalability and near-optimality of the proposed algorithm.