论文标题
具有本地信息的多机器人系统的完全分布式运动协调策略
A fully distributed motion coordination strategy for multi-robot systems with local information
论文作者
论文摘要
本文研究了一组在共享工作区中移动的移动机器人的在线运动协调问题。基于每个机器人均受速度和输入约束的现实假设，并且只能具有本地视图和本地信息，因此提出了完全分布的多机器人运动协调策略。首先提出了在细胞分解之上的建立冲突检测算法。然后，提出了一条规则将动态的计划顺序分配给每对相邻的机器人，这是无僵硬的。最后，设计了一个两步运动计划过程，该过程结合了固定路径计划和轨迹计划。通过模拟示例验证了所得解决方案的有效性。
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only local view and local information, a fully distributed multi-robot motion coordination strategy is proposed. Building on top of a cell decomposition, a conflict detection algorithm is presented first. Then, a rule is proposed to assign dynamically a planning order to each pair of neighboring robots, which is deadlock-free. Finally, a two-step motion planning process that combines fixed-path planning and trajectory planning is designed. The effectiveness of the resulting solution is verified by a simulation example.
