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Multi-Robot Task Al...
Multi-Robot Task Allocation Framework with Integrated Risk-Aware 3D Path Planning
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- Bai, Yifan (författare)
- Luleå tekniska universitet,Signaler och system
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- Lindqvist, Björn (författare)
- Luleå tekniska universitet,Signaler och system
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- Karlsson, Samuel (författare)
- Luleå tekniska universitet,Signaler och system
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- Kanellakis, Christoforos (författare)
- Luleå tekniska universitet,Signaler och system
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- Nikolakopoulos, George (författare)
- Luleå tekniska universitet,Signaler och system
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(creator_code:org_t)
- IEEE, 2022
- 2022
- Engelska.
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Ingår i: 2022 30th Mediterranean Conference on Control and Automation (MED). - : IEEE. ; , s. 481-486
- Relaterad länk:
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https://ltu.diva-por... (primary) (Raw object)
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- This article presents an overall system architecture for multi-robot coordination in a known environment. The proposed framework is structured around a task allocation mechanism that performs unlabeled multi-robot path assignment informed by 3D path planning, while using a nonlinear model predictive control(NMPC) for each unmanned aerial vehicle (UAV) to navigate along its assigned path. More specifically, at first a risk aware 3D path planner D∗+ is applied to calculate cost between each UAV agent and each target point. Then the cost matrix related to the computed trajectories to each goal is fed into the Hungarian Algorithm that solves the assignment problem and generates the minimum total cost. NMPC is implemented to control the UAV while satisfying path following and input constraints. We evaluate the proposed architecture in Gazebo simulation framework and the result indicates UAVs are capable of approaching their assigned target whilst avoiding collisions.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
Nyckelord
- Robotics and Artificial Intelligence
- Robotik och artificiell intelligens
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)