剛体フォーメーションを維持するマルチエージェント協調系の最適経路計画
Optimal path planning of multi-agent cooperative systems with rigid formation
剛体フォーメーションを組む同種ロボット群に対し、各エージェントの最適制御が重心の最適制御と等価であることを示し、経路計画を簡略化する手法を提案した。
著者: Ananda Rangan Narayanan, Mi Zhou, Erik Verriest
分類: cs.RO
原文アブストラクト
In this article, we consider the path-planning problem of a cooperative homogeneous robotic system with rigid formation. An optimal controller is designed for each agent in such rigid systems based on Pontryagin's minimum principle theory. We found that the optimal control for each agent is equivalent to the optimal control for the Center of Mass (CoM). This equivalence is then proved by using some analytical mechanics. Three examples are finally simulated to illustrate our theoretical results. One application could be utilizing this equivalence to simplify the original multi-agent optimal control problem.