Pareto-optimal coordination of multiple robots with safety guarantees

Authors:
Rongxin Cui;Bo Gao;Ji Guo
Affiliations:
College of Marine Engineering, Northwestern Polytechnical University, Xi'an, P.R. China 710072;College of Marine Engineering, Northwestern Polytechnical University, Xi'an, P.R. China 710072;College of Physics and Electrical Engineering, Anyang Normal University, Anyang, P.R. China 455000
Venue:
Autonomous Robots
Year:
2012

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Abstract

This paper investigates the coordination of multiple robots with pre-specified paths, considering motion safety and minimizing the traveling time. A聽method to estimate possible collision point along the local paths of the robots is proposed. The repulsive potential energy is computed based on the distances between the robots and the potential collision points. This repulsive potential energy is used as the cost map of the probabilistic roadmap (PRM), which is constructed in the coordination space for multiple robots taking into account both motion time cost and safety cost. We propose a search method on the PRM to obtain the Pareto-optimal coordination solution for multiple robots. Both simulation and experimental results are presented to demonstrate the effectiveness of the algorithms.