期刊
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
卷 -, 期 -, 页码 -出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/02783649231210012
关键词
swarm robotics; trajectory planning; virtual tubes; optimization
类别
This paper presents a novel method for efficiently solving a trajectory planning problem for swarm robotics in cluttered environments. By constructing an optimal virtual tube and introducing a hierarchical approach, the trajectory planning is optimized.
This paper presents a novel method for efficiently solving a trajectory planning problem for swarm robotics in cluttered environments. Recent research has demonstrated high success rates in real-time local trajectory planning for swarm robotics in cluttered environments, but optimizing trajectories for each robot is still computationally expensive, with a computational complexity from O(k(n(t), epsilon)n(t)(2)) to O(k(n(t), epsilon)n(t)(3)) where n(t) is the number of parameters in the parameterized trajectory, e is precision, and kont, eTHORN is the number of iterations with respect to nt and e. Furthermore, the swarm is difficult to move as a group. To address this issue, we define and then construct the optimal virtual tube, which includes infinite optimal trajectories. Under certain conditions, any optimal trajectory in the optimal virtual tube can be expressed as a convex combination of a finite number of optimal trajectories, with a computational complexity of O(n(t)). Afterward, a hierarchical approach including a planning method of the optimal virtual tube with minimizing energy and distributed model predictive control is proposed. In simulations and experiments, the proposed approach is validated and its effectiveness over other methods is demonstrated through comparison.
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