Real-time multi-robot motion planning with safe dynamics

被引:8
|
作者
Bruce, J [1 ]
Veloso, M [1 ]
机构
[1] Carnegie Mellon Univ, Dept Comp Sci, Pittsburgh, PA 15213 USA
关键词
realtime path planning; multirobot navigation;
D O I
10.1007/1-4020-3389-3_13
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
This paper introduces a motion planning system for real-time control of multiple high performance robots in dynamic and unpredictable domains. It consists of a randomized realtime path planner, a bounded acceleration motion control system, and a randomized velocity-space search for collision avoidance of multiple moving robots. The realtime planner ignores dynamics, simplifying planning, while the motion control ignores obstacles, allowing a closed form solution. This allows up to five robots to be controlled 60 times per second, but collisions can arise due to dynamics. Thus a randomized search is performed in the robot's velocity space to find a safe action which satisfies both obstacle and dynamics constraints. The system has been fully implemented, and empirical results are presented.
引用
收藏
页码:159 / 170
页数:12
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