Decentralized multi-robot collision-free path following based on time-varying artificial vector fields and MPC-ORCA
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Universidade Federal de Minas Gerais
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This work focuses on the solution for multi-agent, collision-free, time-varying path-following problems in 3D spaces. The proposed solution is based on using time-varying artificial vector fields to generate velocity references for single agents. A distributed Model Predictive Control (MPC) scheme is employed, taking into account the system’s dynamics and collision avoidance features, enabling the multi-robot system to follow the dynamic field without collisions and providing great computational efficiency. More specifically, Optimal Reciprocal Collision Avoidance (ORCA) algorithm is used to set constraints, yielding a novel MPC-ORCA approach, for efficient collision avoidance in the multi-agent scenario. Simulation scenarios are used to validate and compare the proposed approach with traditional methods, highlighting its improvements.
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Robôs - Sistemas de controle
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Three-dimensional displays , Simulation , Aerospace electronics , Prediction algorithms , Computational efficiency , Multi-robot systems , Collision avoidance, Multi-Robot Systems , Collision Avoidance , Motion and Path Planning , Distributed Robot Systems, Vector Field , Time-varying Field , Collision-free Path , Time-varying Vector , 3D Space , Model Predictive Control , Reference Velocity , Optimization Problem , Active Control , Optimal Control , Number Of Agents , Prediction Horizon , Environmental Agents , Hard Constraints , Presence Of Obstacles , Complete Simulation , Static Obstacles , Robotic Group , Pair Of Agents , Model Predictive Control Problem , Neighboring Agents
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https://ieeexplore.ieee.org/document/10333004