Energy-optimal motion planning for multiple robotic vehicles with collision avoidance

A.J. Häusler, A. Saccon, A.P. Aguiar, J. Hauser, A.M. Pascoal

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

25 Citaties (Scopus)

Uittreksel

We propose a numerical algorithm for multiple-vehicle motion planning that explicitly takes into account the vehicle dynamics, temporal and spatial specifications, and energy-related requirements. As a motivating example, we consider the case where a group of vehicles is tasked to reach a number of target points at the same time (simultaneous arrival problem) without colliding among themselves and with obstacles, subject to the requirement that the overall energy required for vehicle motion be minimized. With the theoretical setup adopted, the vehicle dynamics are explicitly taken into account at the planning level. This paper formulates the problem of multiple-vehicle motion planning in a rigorous mathematical setting, describes the optimization algorithm used to solve it, and discusses the key implementation details. The efficacy of the method is illustrated through numerical examples for the simultaneous arrival problem. The initial guess to start the optimization procedure is obtained from simple geometrical considerations, e.g., by joining the desired initial and final positions of the vehicles via straight lines. Even though the initial trajectories thus obtained may result in intervehicle and vehicle/obstacle collisions, we show that the optimization procedure that we employ in this paper will generate collision-free trajectories that also minimize the overall energy spent by each vehicle and meet the required temporal and spatial constraints. The method developed applies to a very general class of vehicles; however, for clarity of exposition, we adopt as an illustrative example the case of wheeled robots.

TaalEngels
Artikelnummer7308015
Pagina's867-883
Aantal pagina's17
TijdschriftIEEE Transactions on Control Systems Technology
Volume24
Nummer van het tijdschrift3
DOI's
StatusGepubliceerd - 1 mei 2016

Vingerafdruk

Collision avoidance
Motion planning
Robotics
Trajectories
Joining
Robots
Specifications
Planning

Trefwoorden

    Citeer dit

    Häusler, A.J. ; Saccon, A. ; Aguiar, A.P. ; Hauser, J. ; Pascoal, A.M./ Energy-optimal motion planning for multiple robotic vehicles with collision avoidance. In: IEEE Transactions on Control Systems Technology. 2016 ; Vol. 24, Nr. 3. blz. 867-883
    @article{2529bda4c7d14fe7b98042ac4600c15c,
    title = "Energy-optimal motion planning for multiple robotic vehicles with collision avoidance",
    abstract = "We propose a numerical algorithm for multiple-vehicle motion planning that explicitly takes into account the vehicle dynamics, temporal and spatial specifications, and energy-related requirements. As a motivating example, we consider the case where a group of vehicles is tasked to reach a number of target points at the same time (simultaneous arrival problem) without colliding among themselves and with obstacles, subject to the requirement that the overall energy required for vehicle motion be minimized. With the theoretical setup adopted, the vehicle dynamics are explicitly taken into account at the planning level. This paper formulates the problem of multiple-vehicle motion planning in a rigorous mathematical setting, describes the optimization algorithm used to solve it, and discusses the key implementation details. The efficacy of the method is illustrated through numerical examples for the simultaneous arrival problem. The initial guess to start the optimization procedure is obtained from simple geometrical considerations, e.g., by joining the desired initial and final positions of the vehicles via straight lines. Even though the initial trajectories thus obtained may result in intervehicle and vehicle/obstacle collisions, we show that the optimization procedure that we employ in this paper will generate collision-free trajectories that also minimize the overall energy spent by each vehicle and meet the required temporal and spatial constraints. The method developed applies to a very general class of vehicles; however, for clarity of exposition, we adopt as an illustrative example the case of wheeled robots.",
    keywords = "Energy-minimal optimization, motion planning, multiple-vehicle trajectory planning, planning with collision avoidance, trajectory optimization",
    author = "A.J. H{\"a}usler and A. Saccon and A.P. Aguiar and J. Hauser and A.M. Pascoal",
    year = "2016",
    month = "5",
    day = "1",
    doi = "10.1109/TCST.2015.2475399",
    language = "English",
    volume = "24",
    pages = "867--883",
    journal = "IEEE Transactions on Control Systems Technology",
    issn = "1063-6536",
    publisher = "Institute of Electrical and Electronics Engineers",
    number = "3",

    }

    Energy-optimal motion planning for multiple robotic vehicles with collision avoidance. / Häusler, A.J.; Saccon, A.; Aguiar, A.P.; Hauser, J.; Pascoal, A.M.

    In: IEEE Transactions on Control Systems Technology, Vol. 24, Nr. 3, 7308015, 01.05.2016, blz. 867-883.

    Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

    TY - JOUR

    T1 - Energy-optimal motion planning for multiple robotic vehicles with collision avoidance

    AU - Häusler,A.J.

    AU - Saccon,A.

    AU - Aguiar,A.P.

    AU - Hauser,J.

    AU - Pascoal,A.M.

    PY - 2016/5/1

    Y1 - 2016/5/1

    N2 - We propose a numerical algorithm for multiple-vehicle motion planning that explicitly takes into account the vehicle dynamics, temporal and spatial specifications, and energy-related requirements. As a motivating example, we consider the case where a group of vehicles is tasked to reach a number of target points at the same time (simultaneous arrival problem) without colliding among themselves and with obstacles, subject to the requirement that the overall energy required for vehicle motion be minimized. With the theoretical setup adopted, the vehicle dynamics are explicitly taken into account at the planning level. This paper formulates the problem of multiple-vehicle motion planning in a rigorous mathematical setting, describes the optimization algorithm used to solve it, and discusses the key implementation details. The efficacy of the method is illustrated through numerical examples for the simultaneous arrival problem. The initial guess to start the optimization procedure is obtained from simple geometrical considerations, e.g., by joining the desired initial and final positions of the vehicles via straight lines. Even though the initial trajectories thus obtained may result in intervehicle and vehicle/obstacle collisions, we show that the optimization procedure that we employ in this paper will generate collision-free trajectories that also minimize the overall energy spent by each vehicle and meet the required temporal and spatial constraints. The method developed applies to a very general class of vehicles; however, for clarity of exposition, we adopt as an illustrative example the case of wheeled robots.

    AB - We propose a numerical algorithm for multiple-vehicle motion planning that explicitly takes into account the vehicle dynamics, temporal and spatial specifications, and energy-related requirements. As a motivating example, we consider the case where a group of vehicles is tasked to reach a number of target points at the same time (simultaneous arrival problem) without colliding among themselves and with obstacles, subject to the requirement that the overall energy required for vehicle motion be minimized. With the theoretical setup adopted, the vehicle dynamics are explicitly taken into account at the planning level. This paper formulates the problem of multiple-vehicle motion planning in a rigorous mathematical setting, describes the optimization algorithm used to solve it, and discusses the key implementation details. The efficacy of the method is illustrated through numerical examples for the simultaneous arrival problem. The initial guess to start the optimization procedure is obtained from simple geometrical considerations, e.g., by joining the desired initial and final positions of the vehicles via straight lines. Even though the initial trajectories thus obtained may result in intervehicle and vehicle/obstacle collisions, we show that the optimization procedure that we employ in this paper will generate collision-free trajectories that also minimize the overall energy spent by each vehicle and meet the required temporal and spatial constraints. The method developed applies to a very general class of vehicles; however, for clarity of exposition, we adopt as an illustrative example the case of wheeled robots.

    KW - Energy-minimal optimization

    KW - motion planning

    KW - multiple-vehicle trajectory planning

    KW - planning with collision avoidance

    KW - trajectory optimization

    UR - http://www.scopus.com/inward/record.url?scp=84945936866&partnerID=8YFLogxK

    U2 - 10.1109/TCST.2015.2475399

    DO - 10.1109/TCST.2015.2475399

    M3 - Article

    VL - 24

    SP - 867

    EP - 883

    JO - IEEE Transactions on Control Systems Technology

    T2 - IEEE Transactions on Control Systems Technology

    JF - IEEE Transactions on Control Systems Technology

    SN - 1063-6536

    IS - 3

    M1 - 7308015

    ER -