避碰
概率逻辑
避障
计算机科学
机器人
障碍物
碰撞
非线性系统
常量(计算机编程)
控制理论(社会学)
人工智能
移动机器人
控制(管理)
物理
法学
程序设计语言
量子力学
计算机安全
政治学
作者
Hai Zhu,Javier Alonso–Mora
出处
期刊:IEEE robotics and automation letters
日期:2019-01-16
卷期号:4 (2): 776-783
被引量:182
标识
DOI:10.1109/lra.2019.2893494
摘要
Safe autonomous navigation of microair vehicles in cluttered dynamic environments is challenging due to the uncertainties arising from robot localization, sensing, and motion disturbances. This letter presents a probabilistic collision avoidance method for navigation among other robots and moving obstacles, such as humans. The approach explicitly considers the collision probability between each robot and obstacle and formulates a chance constrained nonlinear model predictive control problem (CCNMPC). A tight bound for approximation of collision probability is developed, which makes the CCNMPC formulation tractable and solvable in real time. For multirobot coordination, we describe three approaches, one distributed without communication (constant velocity assumption), one distributed with communication (of previous plans), and one centralized (sequential planning). We evaluate the proposed method in experiments with two quadrotors sharing the space with two humans and verify the multirobot coordination strategy in simulation with up to sixteen quadrotors.
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