论文标题
使用缓冲不确定性沃罗诺伊细胞的分散概率多机器人碰撞避免
Decentralized Probabilistic Multi-Robot Collision Avoidance Using Buffered Uncertainty-Aware Voronoi Cells
论文作者
论文摘要
在本文中，我们为多机器人系统提出了一种分散且无通信的避免碰撞方法，该系统既是机器人本地化和传感不确定性的说明。在高斯分布不确定性的假设下，该方法依赖于每个机器人在其他机器人和环境中静态障碍之间导航的不确定性安全区域的计算。特别是，在每个时间步骤中，我们为每个机器人构建了一个偶然的缓冲性不确定性感知的伏诺诺细胞（B-uavc），给出了指定的碰撞概率阈值。通过将每个机器人的运动限制为相应的B-UAVC，即机器人和障碍物之间的碰撞概率保持在指定的阈值以下，可以实现概率碰撞避免。所提出的方法是分散的，无通信的，可扩展的，具有机器人的数量，并与机器人的本地化和感知不确定性相关。我们将方法应用于具有一般非线性动力学的单一积体器，双积体驱动器和机器人。进行了大量的模拟和实验，以一组地面车辆，二次和异质机器人团队进行分析和验证拟议方法。
In this paper, we present a decentralized and communication-free collision avoidance approach for multi-robot systems that accounts for both robot localization and sensing uncertainties. The approach relies on the computation of an uncertainty-aware safe region for each robot to navigate among other robots and static obstacles in the environment, under the assumption of Gaussian-distributed uncertainty. In particular, at each time step, we construct a chance-constrained buffered uncertainty-aware Voronoi cell (B-UAVC) for each robot given a specified collision probability threshold. Probabilistic collision avoidance is achieved by constraining the motion of each robot to be within its corresponding B-UAVC, i.e. the collision probability between the robots and obstacles remains below the specified threshold. The proposed approach is decentralized, communication-free, scalable with the number of robots and robust to robots' localization and sensing uncertainties. We applied the approach to single-integrator, double-integrator, differential-drive robots, and robots with general nonlinear dynamics. Extensive simulations and experiments with a team of ground vehicles, quadrotors, and heterogeneous robot teams are performed to analyze and validate the proposed approach.
