论文标题
使用数据分发服务的多个移动机器人基于行为树的任务计划
Behavior Tree-Based Task Planning for Multiple Mobile Robots using a Data Distribution Service
论文作者
论文摘要
在这项研究中，我们为在行为树（BT）上建立的多个机器人提出了任务计划框架。 BTS与数据分发服务（DDS）进行通信以发送和接收数据。由于从一个带有单个tick的一个根节点得出的标准BT不适合多个机器人，因此提出了一种新型的BT动作和改进的节点，以通过异步来控制多个机器人。为了有效地计划机器人的任务，使用建议的任务类型实现了一个任务计划单元。任务计划单元通过单个合并的BT同时将任务分配给每个机器人。如果在执行其分配的任务时，任何机器人都陷入故障，则执行机器人中的另一个BT；机器人进入恢复模式以克服故障。要执行此功能，将与任务相对应的BT中的操作定义为一个变量，该变量与DDS共享，以便可以在任务计划单元和机器人之间交换任何操作。为了在现实世界中显示我们的框架的可行性，在实验上协调了三个移动机器人，以通过DDS通过建议的单个任务计划单位交替旅行到四个目标位置。
In this study, we propose task planning framework for multiple robots that builds on a behavior tree (BT). BTs communicate with a data distribution service (DDS) to send and receive data. Since the standard BT derived from one root node with a single tick is unsuitable for multiple robots, a novel type of BT action and improved nodes are proposed to control multiple robots through a DDS asynchronously. To plan tasks for robots efficiently, a single task planning unit is implemented with the proposed task types. The task planning unit assigns tasks to each robot simultaneously through a single coalesced BT. If any robot falls into a fault while performing its assigned task, another BT embedded in the robot is executed; the robot enters the recovery mode in order to overcome the fault. To perform this function, the action in the BT corresponding to the task is defined as a variable, which is shared with the DDS so that any action can be exchanged between the task planning unit and robots. To show the feasibility of our framework in a real-world application, three mobile robots were experimentally coordinated for them to travel alternately to four goal positions by the proposed single task planning unit via a DDS.
