Existing motion planning algorithms for multi-robot systems must be improved to address poor coordination and increase low real-time performance.This paper proposes a new distributed real-time motion planning method f...Existing motion planning algorithms for multi-robot systems must be improved to address poor coordination and increase low real-time performance.This paper proposes a new distributed real-time motion planning method for a multi-robot system using Model Predictive Contouring Control(MPCC).MPCC allows separating the tracking accuracy and productivity,to improve productivity better than the traditional Model Predictive Control(MPC)which follows a time-dependent reference.In the proposed distributed MPCC,each robot exchanges the predicted paths of the other robots and generates the collision-free motion in a parallel manner.The proposed distributed MPCC method is tested in industrial operation scenarios in the robot simulation platform Gazebo.The simulation results show that the proposed distributed MPCC method realizes real-time multi-robot motion planning and performs better than three commonly-used planning methods(dynamic window approach,MPC,and prioritized planning).展开更多
基金the National Natural Science Foundation of China(Nos.62173311,61703372,and 61603345)the College Youth Backbone Teacher Project of Henan Province(No.2021GGJS001)+2 种基金Henan Scientific and Technological Research Project(Nos.222102220123 and 212102310050)the Training Project of Zhengzhou University(No.JC21640030)the China Postdoctoral Science Foundation(No.2020M682346).
文摘Existing motion planning algorithms for multi-robot systems must be improved to address poor coordination and increase low real-time performance.This paper proposes a new distributed real-time motion planning method for a multi-robot system using Model Predictive Contouring Control(MPCC).MPCC allows separating the tracking accuracy and productivity,to improve productivity better than the traditional Model Predictive Control(MPC)which follows a time-dependent reference.In the proposed distributed MPCC,each robot exchanges the predicted paths of the other robots and generates the collision-free motion in a parallel manner.The proposed distributed MPCC method is tested in industrial operation scenarios in the robot simulation platform Gazebo.The simulation results show that the proposed distributed MPCC method realizes real-time multi-robot motion planning and performs better than three commonly-used planning methods(dynamic window approach,MPC,and prioritized planning).
