Planejamento Hierárquico Para Enxames Robóticos Baseado na Exploração do Espaço de Configurações
Resumo
Este trabalho propõe modelar um enxame robótico através de uma abstração hierárquica que reduza a dimensionalidade do problema de planejamento e controle. Dessa maneira, é possível utilizá-la para resolver o problema do planejamento de caminhos a partir da exploração do seu espaço de configurações, que é independente do número de robôs. Experimentos foram realizados em simulação e ambientes reais e os resultados mostram que a abordagem permite a navegação sem congestionamentos para um enxame robótico de forma suave e coerente, sendo adequada para grandes grupos de robôs.Referências
Belta, C. and Kumar, V. (2004). Abstraction and control for groups of robots. IEEE Transactions on Robotics, 20(5):865–875.
Choset, H., Lynch, K. M., Hutchinson, S., Kantor, G. A., Burgard, W., Kavraki, L. E., and Thrun, S. (2005). Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press.
Dresner, K. M. and Stone, P. (2005). Multiagent traffic management: an improved intersection control mechanism. In The Fourth International Joint Conference on Autonomous Agents and Multiagent Systems, pages 471–477.
Kavraki, L., Svestka, P., Latombe, J.-C., and Overmars, M. (1996). Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Transactions on Robotics and Automation, 12(4):566 –580.
Khatib, O. (1985). Real-time obstacle avoidance for manipulators and mobile robots. In Proc. of the IEEE Int. Conf. on Robotics and Automation, pages 500 – 505.
Marcolino, L. and Chaimowicz, L. (2009). Traffic control for a swarm of robots: Avoiding group conflicts. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1949–1954.
Reif, J. H. and Wang, H. (1999). Social potential fields: A distributed behavioral control for autonomous robots. Robotics and Autonomous Systems, 27(3):171–194.
Reynolds, C. W. (1987). Flocks, herds, and schools: A distributed behavioral model. In Computer Graphics, pages 25–34.
Santos, V. and Chaimowicz, L. (2011a). Hierarchical congestion control for robotic swarms. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 4372 –4377.
Santos, V. and Chaimowicz, L. (2011b). Uso de hierarquias no controle de enxames robóticos. In Anais do X Simp. Brasileiro de Automação Inteligente, pages 557–562.
Tan, K.-H. and Lewis, M. (1996). Virtual structures for high-precision cooperative mobile robotic control. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 132–139.
Viswanath, K. and Krishna, M. (2007). Sensor network mediated multi robotic traffic control in indoor environments. In Proc. of the Int. Conf. on Advanced Robotics, pages 1220–1225.
Choset, H., Lynch, K. M., Hutchinson, S., Kantor, G. A., Burgard, W., Kavraki, L. E., and Thrun, S. (2005). Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press.
Dresner, K. M. and Stone, P. (2005). Multiagent traffic management: an improved intersection control mechanism. In The Fourth International Joint Conference on Autonomous Agents and Multiagent Systems, pages 471–477.
Kavraki, L., Svestka, P., Latombe, J.-C., and Overmars, M. (1996). Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Transactions on Robotics and Automation, 12(4):566 –580.
Khatib, O. (1985). Real-time obstacle avoidance for manipulators and mobile robots. In Proc. of the IEEE Int. Conf. on Robotics and Automation, pages 500 – 505.
Marcolino, L. and Chaimowicz, L. (2009). Traffic control for a swarm of robots: Avoiding group conflicts. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1949–1954.
Reif, J. H. and Wang, H. (1999). Social potential fields: A distributed behavioral control for autonomous robots. Robotics and Autonomous Systems, 27(3):171–194.
Reynolds, C. W. (1987). Flocks, herds, and schools: A distributed behavioral model. In Computer Graphics, pages 25–34.
Santos, V. and Chaimowicz, L. (2011a). Hierarchical congestion control for robotic swarms. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 4372 –4377.
Santos, V. and Chaimowicz, L. (2011b). Uso de hierarquias no controle de enxames robóticos. In Anais do X Simp. Brasileiro de Automação Inteligente, pages 557–562.
Tan, K.-H. and Lewis, M. (1996). Virtual structures for high-precision cooperative mobile robotic control. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 132–139.
Viswanath, K. and Krishna, M. (2007). Sensor network mediated multi robotic traffic control in indoor environments. In Proc. of the Int. Conf. on Advanced Robotics, pages 1220–1225.
Publicado
16/07/2012
Como Citar
SANTOS, Vinicius Graciano; CHAIMOWICZ, Luiz.
Planejamento Hierárquico Para Enxames Robóticos Baseado na Exploração do Espaço de Configurações. In: CONCURSO DE TRABALHOS DE INICIAÇÃO CIENTÍFICA DA SBC (CTIC-SBC), 31. , 2012, Curitiba/PR.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2012
.
p. 61-70.
