Scalable distributed algorithms for multi-robot near-optimal motion planning

被引：0
|
作者：
Zhao, Guoxiang [1 ]
Zhu, Minghui [1 ]
机构：
[1] Penn State Univ, Sch Elect Engn & Comp Sci, University Pk, PA 16802 USA
来源：
2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC) | 2019年
关键词：
robotic motion planning; multi-robot optimal coordination; scalability; THEORETIC CONTROLLER SYNTHESIS; MULTIPLE;
D O I：
10.1109/cdc40024.2019.9029416
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：226 / 231
页数：6
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