D-PBS: Dueling Priority-Based Search for Multiple Nonholonomic Robots Motion Planning in Congested Environments
文献类型：期刊论文
| 作者 | Zhang, Xiaotong2,3; Xiong, Gang2 ; Wang, Yuanjing4; Teng, Siyu5; Chen, Long1,6
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| 刊名 | IEEE ROBOTICS AND AUTOMATION LETTERS
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| 出版日期 | 2024-07-01 |
| 卷号 | 9期号:7页码:6288-6295 |
| 关键词 | Multi-robot system motion planning nonholonomic robot |
| ISSN号 | 2377-3766 |
| DOI | 10.1109/LRA.2024.3402183 |
| 通讯作者 | Chen, Long(long.chen@ia.ac.cn) |
| 英文摘要 | This letter focuses on the multiple nonholonomic robots motion planning (MRMP) problem in congested and complex environments, where the complexity escalates dramatically with the increase in the number of robots, frequently leading to deadlocks. We present the Dueling Priority-Based Search (D-PBS), an efficient and scalable priority-based motion planner for multiple nonholonomic car-like robots, capable of enabling robots to move safely to destinations in spatially-constrained settings. We achieve this by adopting the alternate dueling collision resolution approach, coupled with the exploration of comprehensive priority relationships, effectively addressing the deadlock situations. We also introduce a novel priority-binding algorithm to enhance the scalability of our planner in restricted spaces densely populated with robots. Experimental evaluations in various scenarios demonstrate that D-PBS outperforms standard approaches to MRMP, offering superior path quality and scalability for larger robot swarms. |
| WOS关键词 | PATH |
| 资助项目 | National Natural Science Foundation of China |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:001236638400002 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/58490]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进控制与自动化团队 |
| 通讯作者 | Chen, Long |
| 作者单位 | 1.Waytous Inc, Qingdao 266109, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 4.Univ Durham, Dept Nat Sci, Durham DH1 3LE, England 5.Hong Kong Baptist Univ, Hong Kong, Peoples R China 6.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhang, Xiaotong,Xiong, Gang,Wang, Yuanjing,et al. D-PBS: Dueling Priority-Based Search for Multiple Nonholonomic Robots Motion Planning in Congested Environments[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2024,9(7):6288-6295. |
| APA | Zhang, Xiaotong,Xiong, Gang,Wang, Yuanjing,Teng, Siyu,&Chen, Long.(2024).D-PBS: Dueling Priority-Based Search for Multiple Nonholonomic Robots Motion Planning in Congested Environments.IEEE ROBOTICS AND AUTOMATION LETTERS,9(7),6288-6295. |
| MLA | Zhang, Xiaotong,et al."D-PBS: Dueling Priority-Based Search for Multiple Nonholonomic Robots Motion Planning in Congested Environments".IEEE ROBOTICS AND AUTOMATION LETTERS 9.7(2024):6288-6295. |
入库方式： OAI收割
来源：自动化研究所
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