没有合适的资源?快使用搜索试试~ 我知道了~
首页速度障碍法:多智能体避障的最优策略
本文主要探讨的是"速度障碍法避障研究",这是一篇针对智能体避障问题的专业论文。研究的核心内容是基于多个智能体的场景,特别是利用速度障碍法(Velocity Obstacles, VOs)来解决智能体在共享工作空间中的碰撞避免问题。速度障碍法是一种有效的避障策略,它通过分析机器人在空间中可以安全移动的速度向量,形成所谓的“速度禁区”,从而使机器人能够动态规划出避开障碍物的路径。 论文的焦点在于"Reciprocal n-Body Collision Avoidance",由JurvandenBerg等人提出。在这个方法中,每个智能体被视为独立决策者,它们之间不进行通信,而是各自处理自身的避障问题。论文的关键贡献是基于速度障碍的概念,提出了一个将多智能体避障问题转化为低维度线性规划的问题求解策略。这种方法的优势在于能够在复杂且密集的仿真环境中,如涉及数千个智能体的场景,以毫秒级的时间计算出所有智能体的无碰撞运动方案。 作者强调,他们的方法是首个能够确保在拥挤工作空间中大量智能体实现局部无碰撞运动的,这一点在现有的避障算法中具有重要意义。相比于传统的最优避障算法(如ORCA),速度障碍法不仅简化了计算过程,还支持更高效的并行处理,使得大规模智能体系统能够在实时性上有所提升。 总结来说,这篇论文不仅深入研究了速度障碍法在多智能体避障中的应用,而且提供了一种有效且高效的算法,对于推动机器人技术在避免复杂环境中的碰撞问题方面具有显著的理论价值和实际应用潜力。
资源详情
资源推荐
4 Jur van den Berg, Stephen J. Guy, Ming Lin, and Dinesh Manocha
3 Problem Definition
The problem we discuss in this paper is formally defined as follows. Let there be a
set of n robots sharing an environment. For simplicity we assum e the robots are disc-
shaped and move in the plane R
2
(the definitions and algorithms we present in this
paper can easily be extended to translating polygons, and also to higher dimensions).
Each robot A has a current position p
A
(the center of its disc), a current velocity
v
A
and a radius r
A
. These parameters are part of the robot’s external state, i.e. we
assume th at they can be ob served by other robots. Furthermore, each robot has a
maximum speed v
max
A
and a preferred velocity v
pref
A
, which is the velocity the robot
would assume had no other robots been in its way (for instance a velocity directed
towards the robot’s goal with a magnitude equal to the robot’s preferred speed). We
consider these parameters part of the internal state of the robot, and can therefore
not be observed by other robots.
The task is for ea ch robot A to independently (and simultaneously) select a new
velocity v
new
A
for itself such that a ll robots are g uaranteed to be collision-free for at
least a preset amo unt of time
τ
when they would co ntinue to move at their new ve-
locity. As a secondary objective, the robots should select their new velo c ity as close
as possible to their preferred velocity. The robots are not allowed to communicate
with each other, and can only use observations of the other robot’s current position
and velocity. However, each of the robots may assume that the other robots use the
same strategy as itself to select a new velocity.
We name this problem “ reciprocal n-body collision avoidance”. Note that this
problem cannot be solved using central coordination , as the pre ferred velocity of
each robot is only known to the robot itself. In Sectio n 4, we present a sufficient
condition for each robot to select a velocity that is co llision-free for (at least)
τ
time. In Section 5 we show how we use this principle in a continuous cycle for
multi-robot navigation.
4 Reciprocal Collision Avoidance
4.1 Preliminaries
For two robots A and B, the velocity obstacle VO
τ
A|B
(read: the velocity obstacle for
A induced by B f or time window
τ
) is the set of all relative velocities of A with
respect to B that will result in a collision between A and B at some moment before
time
τ
[5]. It is formally defined as fo llows. Let D(p,r) denote an open disc of radius
r centered at p;
D(p,r) = {q|kq − pk < r}, (1)
then:
VO
τ
A|B
= {v | ∃t ∈ [0,
τ
] :: tv ∈ D(p
B
− p
A
,r
A
+ r
B
)} (2)
剩余15页未读,继续阅读
小风筝ᝰ
- 粉丝: 0
- 资源: 1
上传资源 快速赚钱
- 我的内容管理 展开
- 我的资源 快来上传第一个资源
- 我的收益 登录查看自己的收益
- 我的积分 登录查看自己的积分
- 我的C币 登录后查看C币余额
- 我的收藏
- 我的下载
- 下载帮助
最新资源
- 前端面试必问:真实项目经验大揭秘
- 永磁同步电机二阶自抗扰神经网络控制技术与实践
- 基于HAL库的LoRa通讯与SHT30温湿度测量项目
- avaWeb-mast推荐系统开发实战指南
- 慧鱼SolidWorks零件模型库:设计与创新的强大工具
- MATLAB实现稀疏傅里叶变换(SFFT)代码及测试
- ChatGPT联网模式亮相,体验智能压缩技术.zip
- 掌握进程保护的HOOK API技术
- 基于.Net的日用品网站开发:设计、实现与分析
- MyBatis-Spring 1.3.2版本下载指南
- 开源全能媒体播放器:小戴媒体播放器2 5.1-3
- 华为eNSP参考文档:DHCP与VRP操作指南
- SpringMyBatis实现疫苗接种预约系统
- VHDL实现倒车雷达系统源码免费提供
- 掌握软件测评师考试要点:历年真题解析
- 轻松下载微信视频号内容的新工具介绍
资源上传下载、课程学习等过程中有任何疑问或建议,欢迎提出宝贵意见哦~我们会及时处理!
点击此处反馈
安全验证
文档复制为VIP权益,开通VIP直接复制
信息提交成功