论文标题
具有可行性保证和死锁解决方案的多机器人轨迹计划：障碍物的环境
Multi-Robot Trajectory Planning with Feasibility Guarantee and Deadlock Resolution: An Obstacle-Dense Environment
论文作者
论文摘要
本文提出了一种多机器人轨迹计划方法，该方法不仅可以保证优化的可行性，还可以在障碍物密集的环境中解决僵局。该方法是通过制定递归优化问题提出的，该问题在线生成新的安全走廊以确保轨迹计划中的避免障碍。动态优先机制与右手规则相结合，以处理由于静态障碍而难以解决的潜在僵局。与其他最先进的结果进行了比较，以验证提高的安全性和成功率。在各种混乱的场景中，还使用多达八个纳米四肢进行了其他硬件实验。
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive optimization problem, where a novel safe corridor is generated online to ensure obstacle avoidance in trajectory planning. A dynamic-priority mechanism is combined with the right-hand rule to handle potential deadlocks that are much harder to resolve due to static obstacles. Comparisons with other state-of-the-art results are conducted to validate the improved safety and success rate. Additional hardware experiments are carried out with up to eight nano-quadrotors in various cluttered scenarios.
