论文标题
随机搜索多机器人协调
On Randomized Searching for Multi-robot Coordination
论文作者
论文摘要
在本章中，我们提出了一种新的方法来解决一组移动机器人的协调，该方法包括为车队中的单个机器人找到一套无碰撞的轨迹。研究了这个问题已有几十年了，并且已经引入了许多方法。但是，实际上只有少数族裔是由于其特性而适用的 - 少量计算要求，在接近最佳的情况下产生解决方案。我们提出的方法基于快速探索离散环境的随机树算法（RRT）的多机器人变体，并显着提高了其性能。尽管该方法产生的解决方案比[23]中提出的最好的最新算法之一稍差，但它解决了Ter Morses算法失败的问题。
In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several decades, and many approaches have been introduced. However, only a small minority is applicable in practice because of their properties - small computational requirement, producing solutions near-optimum, and completeness. The approach we present is based on a multi-robot variant of Rapidly Exploring Random Tree algorithm (RRT) for discrete environments and significantly improves its performance. Although the solutions generated by the approach are slightly worse than one of the best state-of-the-art algorithms presented in [23], it solves problems where ter Morses algorithm fails.
