大会名称 |
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2023年 ソサイエティ大会 |
大会コ-ド |
2023S |
開催年 |
2023 |
発行日 |
2023/9/5 |
セッション番号 |
TK-1 |
セッション名 |
移動イノベーションとライフスタイル革命 |
講演日 |
2023/9/12 |
講演場所(会議室等) |
IB電子情報館中棟 1階IB014講義室 |
講演番号 |
TK-1-7 |
タイトル |
Kinodynamic Model Predictive Control of a multi-robot system in a structured dynamic environment |
著者名 |
Ibrahima Kane, |
キーワード |
MPC, Kinodynamic Motion Planning, Multi-robot systems, Optimal Control systems, Global path planning |
抄録 |
This paper introduces a novel approach to the kinodynamic motion planning problem for multi-robot systems with task constraints and obstacle avoidance. The proposed method, designed for robots with uncertain linear dynamics, maintains the optimality close to that of centralized systems while preserving the scalability and structural flexibility of decentralized systems. The approach involves a two-step process: task assignment based on approximations of distances and energy consumption, and the creation of a future map to define obstacle-free regions. At every time step, the method solves a mixed integer quadratic problem, applying an affine feedback law, thereby generating global paths dynamically. This kinodynamic aspect allows the system to adapt to changes in the environment and robot states with kinematic constraints. The proposed method is validated through experiments using omnidirectional robots, with results compared to both decentralized and centralized systems. |
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