Decentralized Multi-robot Collision-free Path Following Based on Time-varying Artificial Vector Fields and MPC-ORCA

  • Elias J. R. Freitas UFMG / IFMG
  • Arthur Da C. Vangasse UFMG
  • Guilherme V. Raffo UFMG
  • Luciano C. A. Pimenta UFMG

Resumo


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.
Palavras-chave: Multi-Robot Systems, Collision Avoidance, Motion and Path Planning, Distributed Robot Systems
Publicado
09/10/2023
FREITAS, Elias J. R.; VANGASSE, Arthur Da C.; RAFFO, Guilherme V.; PIMENTA, Luciano C. A.. Decentralized Multi-robot Collision-free Path Following Based on Time-varying Artificial Vector Fields and MPC-ORCA. In: SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO AMERICANO DE ROBÓTICA (SBR/LARS), 15. , 2023, Salvador/BA. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2023 . p. 212-217.