Trajectory Planning for Heterogeneous Robot Teams
Trajectory Planning for Heterogeneous Robot Teams
复制标题
异构机器人团队的轨迹规划
DOI：
--
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Nora Ayanian
中科院分区：
文献类型：
--
作者：
Mark J. Debord;W. Hönig;Nora Ayanian
我们描述了一种在已知环境中的异构移动的机器人团队的轨迹规划方法。我们考虑两个核心问题，出现与异构机器人团队：不对称的机器人之间的碰撞约束和变化的动态限制。非对称碰撞约束是旋翼机近距离飞行的重要约束，下洗效应使空间协调复杂化。不同的动态限制复杂的机器人之间的时间协调，必须在规划过程中考虑。我们的方法建立在一个混合规划，结合图形规划技术与轨迹优化和规模以及大型同质机器人团队。我们扩展的混合规划方法，包括额外的空间和时间的协调，以支持异构的团队。我们的方法可以很好地扩展机器人和机器人类型的数量，我们展示了我们的方法在一个团队的15个物理机器人的4种不同类型，包括四旋翼和差分驱动机器人。
We describe a trajectory planning method for heterogeneous mobile robot teams in known environments. We consider two core problems that arise with heterogeneous robot teams: asymmetric inter-robot collision constraints and varying dynamic limits. Asymmetric collision constraints are important for close-proximity flight of rotorcraft due to the downwash effect, which complicates spatial coordination. Varying dynamic limits complicate temporal coordination between robots and must be taken into account during planning. Our method builds upon a hybrid planner that combines graph-planning techniques with trajectory optimization and scales well to large homogeneous robot teams. We extend the hybrid planning approach to include the additional spatial and temporal coordination to support heterogeneous teams. Our method scales well with the number of robots and robot types and we demonstrate our approach on a team of 15 physical robots of 4 different types, including quadrotors and differential drive robots.
影响因子：
3.5
作者：
Hornung, Armin;Wurm, Kai M.;Burgard, Wolfram
通讯作者：
Burgard, Wolfram