Dynamic collision avoidance for multiple robotic manipulators based on a non-cooperative multi-agent game
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2021
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| _version_ | 1866916438785130496 |
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| author | Gafur, Nigora Kanagalingam, Gajanan Ruskowski, Martin |
| author_facet | Gafur, Nigora Kanagalingam, Gajanan Ruskowski, Martin |
| contents | A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on non-linear model predictive control, which accounts for static and dynamic collision avoidance. The proposed algorithm is formulated as a non-cooperative game, where each robot is considered as an agent. Each agent optimizes its own motion and accounts for the predicted movement of surrounding agents. We propose a novel approach to formulate the dynamic collision constraints. Additionally, we account for deadlocks that might occur in a setup of multiple robotic manipulators. We validate our algorithm on a pick and place scenario for four collaborative robots operating in a common workspace in the simulation environment Gazebo. The robots are controlled by the Robot Operating System (ROS). We demonstrate, that our approach is real-time capable and, due to the distributed nature of the approach, easily scales to an arbitrary number of robot manipulators in a shared workspace. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2103_00583 |
| institution | arXiv |
| publishDate | 2021 |
| record_format | arxiv |
| spellingShingle | Dynamic collision avoidance for multiple robotic manipulators based on a non-cooperative multi-agent game Gafur, Nigora Kanagalingam, Gajanan Ruskowski, Martin Robotics Systems and Control A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on non-linear model predictive control, which accounts for static and dynamic collision avoidance. The proposed algorithm is formulated as a non-cooperative game, where each robot is considered as an agent. Each agent optimizes its own motion and accounts for the predicted movement of surrounding agents. We propose a novel approach to formulate the dynamic collision constraints. Additionally, we account for deadlocks that might occur in a setup of multiple robotic manipulators. We validate our algorithm on a pick and place scenario for four collaborative robots operating in a common workspace in the simulation environment Gazebo. The robots are controlled by the Robot Operating System (ROS). We demonstrate, that our approach is real-time capable and, due to the distributed nature of the approach, easily scales to an arbitrary number of robot manipulators in a shared workspace. |
| title | Dynamic collision avoidance for multiple robotic manipulators based on a non-cooperative multi-agent game |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2103.00583 |