TY - GEN
T1 - Distributed dynamic priority assignment and motion planning for multiple mobile robots with kinodynamic constraints
AU - Luo, Wenhao
AU - Chakraborty, Nilanjan
AU - Sycara, Katia
N1 - Publisher Copyright: © 2016 American Automatic Control Council (AACC).
PY - 2016/7/28
Y1 - 2016/7/28
N2 - We present a distributed on-line coordinated motion planning approach for a group of mobile robots moving amidst dynamic obstacles. The objective for the motion planning is to minimize the total distance traveled by the robots as well as the danger of deadlock. Kinematic constraints, robot-obstacle collision avoidance constraints, and velocity/acceleration constraints are explicitly considered in individual robot's motion planner. A dynamic priority based scheme is proposed to deal with pair-wise inter-robot collision constraints. In particular, we model the assignment of priority into a minimum linear ordering problem (MLOP). We prove that the objective function of the MLOP is supermodular and propose a decentralized supermodular linear ordering algorithm that interleaves dynamic priority assignment and planning for the robots, such that the overall path length and the danger of deadlock are both minimized. Simulation results are provided to show the effectiveness of the proposed approach.
AB - We present a distributed on-line coordinated motion planning approach for a group of mobile robots moving amidst dynamic obstacles. The objective for the motion planning is to minimize the total distance traveled by the robots as well as the danger of deadlock. Kinematic constraints, robot-obstacle collision avoidance constraints, and velocity/acceleration constraints are explicitly considered in individual robot's motion planner. A dynamic priority based scheme is proposed to deal with pair-wise inter-robot collision constraints. In particular, we model the assignment of priority into a minimum linear ordering problem (MLOP). We prove that the objective function of the MLOP is supermodular and propose a decentralized supermodular linear ordering algorithm that interleaves dynamic priority assignment and planning for the robots, such that the overall path length and the danger of deadlock are both minimized. Simulation results are provided to show the effectiveness of the proposed approach.
UR - https://www.scopus.com/pages/publications/84992065855
U2 - 10.1109/ACC.2016.7524907
DO - 10.1109/ACC.2016.7524907
M3 - Conference contribution
T3 - Proceedings of the American Control Conference
SP - 148
EP - 154
BT - 2016 American Control Conference, ACC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 American Control Conference, ACC 2016
Y2 - 6 July 2016 through 8 July 2016
ER -