A distributed range-only collision avoidance approach for low-cost large-scale multi-robot systems

Han，Ruihua1; Chen，Shengduo1; Hao，Qi1,2

10.1109/IROS45743.2020.9341539

2020-10-24

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2153-0858

2153-0866

978-1-7281-6213-3

IEEE International Conference on Intelligent Robots and Systems

8020-8026

OCT 24-JAN 24, 2020-2021

null,null,ELECTR NETWORK

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

The challenges of developing low-cost, large-scale multi-robot navigation systems include noisy measurements, a large number of robots, and computing efficiency for collision avoidance. This paper presents a distributed motion planning framework for a large number of robots to navigate with robust collision avoidance using low-cost range only measurements. The novelty of this work is threefold. (1) Developing a distributed collision-free navigation system for a large-scale robot group in which each robot performs motion planning based on the noisy range measurements of neighboring robots; (2) Developing a set of algorithms for each robot to accurately estimate the relative positions and orientations based on the range measurements and relative velocities; (3) Developing a velocity obstacle (VO) based motion planning algorithm for each robot which can take into account of the estimation uncertainties in relative positions and orientations. The proposed approach is tested with various numbers of differential-driven robots in the Gazebo simulator and real-world experiments. Both simulation and experiment results validate the superior performance of the proposed approach compared to other state-of-art technologies.

Navigation Position measurement Planning Velocity measurement Motion measurement Collision avoidance Robots

第一 ; 通讯

英语

EI ; CPCI-S

National Natural Science Foundation of China[61773197]

Automation & Control Systems ; Computer Science ; Engineering ; Robotics

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Robotics

WOS:000724145802049

20211110063569

Agricultural robots ; Collision avoidance ; Costs ; Industrial robots ; Intelligent robots ; Large scale systems ; Motion planning ; Multipurpose robots ; Navigation systems ; Uncertainty analysis

Robotics:731.5 ; Robot Applications:731.6 ; Cost and Value Engineering; Industrial Economics:911 ; Accidents and Accident Prevention:914.1 ; Probability Theory:922.1 ; Systems Science:961

2-s2.0-85102408633

Scopus

1.Southern University of Science and Technology,Department of Computer Science and Engineering,Shenzhen Guangdong,518055,China
2.Sifakis Research Institute of Trustworthy Autonomous Systems,

Han，Ruihua,Chen，Shengduo,Hao，Qi. A distributed range-only collision avoidance approach for low-cost large-scale multi-robot systems[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2020:8020-8026.