Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems
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arXiv
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| Auteurs principaux: | , , , , , |
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| Format: | Preprint |
| Publié: |
2023
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| _version_ | 1866916280459591680 |
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| author | Huang, Jihao Zeng, Jun Chi, Xuemin Sreenath, Koushil Liu, Zhitao Su, Hongye |
| author_facet | Huang, Jihao Zeng, Jun Chi, Xuemin Sreenath, Koushil Liu, Zhitao Su, Hongye |
| contents | Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex or non-convex optimization problem with positive distance constraints between robots, which limits real-time performance and scalability. Additionally, generating collision-free behavior for polytopic-shaped robots is harder due to implicit and non-differentiable distance functions between polytopes. In this paper, we extend the concept of velocity obstacle (VO) principle for polytopic-shaped robots and propose a novel approach to construct the VO in the function of vertex coordinates and other robot's states. Compared with existing work about obstacle avoidance between polytopic-shaped robots, our approach is much more computationally efficient as the proposed approach for construction of VO between polytopes is optimization-free. Based on VO representation for polytopic shapes, we later propose a navigation approach for distributed multi-robot systems. We validate our proposed VO representation and navigation approach in multiple challenging scenarios including large-scale randomized tests, and our approach outperforms the state of art in many evaluation metrics, including completion rate, deadlock rate, and the average travel distance. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2304_07954 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems Huang, Jihao Zeng, Jun Chi, Xuemin Sreenath, Koushil Liu, Zhitao Su, Hongye Robotics Systems and Control Optimization and Control Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex or non-convex optimization problem with positive distance constraints between robots, which limits real-time performance and scalability. Additionally, generating collision-free behavior for polytopic-shaped robots is harder due to implicit and non-differentiable distance functions between polytopes. In this paper, we extend the concept of velocity obstacle (VO) principle for polytopic-shaped robots and propose a novel approach to construct the VO in the function of vertex coordinates and other robot's states. Compared with existing work about obstacle avoidance between polytopic-shaped robots, our approach is much more computationally efficient as the proposed approach for construction of VO between polytopes is optimization-free. Based on VO representation for polytopic shapes, we later propose a navigation approach for distributed multi-robot systems. We validate our proposed VO representation and navigation approach in multiple challenging scenarios including large-scale randomized tests, and our approach outperforms the state of art in many evaluation metrics, including completion rate, deadlock rate, and the average travel distance. |
| title | Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems |
| topic | Robotics Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2304.07954 |