Pareto-optimal coordination of multiple robots with safety guarantees |
| |
Authors: | Rongxin Cui Bo Gao Ji Guo |
| |
Affiliation: | (2) Department of Electrical Engineering and Computer Science, University of Tennessee, Knoxville, USA; |
| |
Abstract: | This paper investigates the coordination of multiple robots with pre-specified paths, considering motion safety and minimizing
the traveling time. A method to estimate possible collision point along the local paths of the robots is proposed. The repulsive
potential energy is computed based on the distances between the robots and the potential collision points. This repulsive
potential energy is used as the cost map of the probabilistic roadmap (PRM), which is constructed in the coordination space
for multiple robots taking into account both motion time cost and safety cost. We propose a search method on the PRM to obtain
the Pareto-optimal coordination solution for multiple robots. Both simulation and experimental results are presented to demonstrate
the effectiveness of the algorithms. |
| |
Keywords: | |
本文献已被 SpringerLink 等数据库收录! |