D-PBS: Dueling Priority-Based Search for Multiple Nonholonomic Robots Motion Planning in Congested Environments

doi:10.1109/LRA.2024.3402183

CORC > 自动化研究所 > 中国科学院自动化研究所 > 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

	D-PBS: Dueling Priority-Based Search for Multiple Nonholonomic Robots Motion Planning in Congested Environments
	Zhang, Xiaotong 5,6; Xiong, Gang 6; Wang, Yuanjing 4; Teng, Siyu 3; Chen, Long 1,2
刊名	IEEE ROBOTICS AND AUTOMATION LETTERS
	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.
资助项目	National Natural Science Foundation of China
WOS关键词	PATH
WOS研究方向	Robotics
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:001236638400002
资助机构	National Natural Science Foundation of China
内容类型	期刊论文
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 Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Hong Kong Baptist Univ, Hong Kong, Peoples R China 4.Univ Durham, Dept Nat Sci, Durham DH1 3LE, England 5.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 6.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, 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.