期刊
IEEE TRANSACTIONS ON CYBERNETICS
卷 45, 期 9, 页码 1784-1797出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2014.2360368
关键词
Multirobot coordination (MRC); path-planning; wilderness search and rescue (WiSAR)
类别
资金
- Natural Sciences and Engineering Research Council of Canada
This paper presents a novel strategy for the online planning of optimal motion-paths for a team of autonomous ground robots engaged in wilderness search and rescue (WiSAR). The proposed strategy, which forms part of an overall multirobot coordination (MRC) methodology, addresses the dynamic nature of WiSAR by: 1) planning initial, time-optimal, and piecewise polynomial paths for all robots; 2) implementing and regularly evaluating the optimality of the paths through a set of checks that gauge feasibility of path-completion within the available time; and 3) replanning paths, on-line, whenever deemed necessary. The fundamental principle of maintaining the optimal deployment of the robots throughout the search guides the MRC methodology. The proposed path-planning strategy is illustrated through a simulated realistic WiSAR example, and compared to an alternative, nonprobabilistic approach.
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