基于在线优化的多辆无人车协调

Proceedings. 2005 IEEE Networking, Sensing and Control, 2005. Pub Date : 2005-03-19 DOI:10.1109/ICNSC.2005.1461278

R. Fierro, C. Branca, J. Spletzer

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引用次数: 10

摘要

这项工作的目的是研究基于在线优化的机器人团队协调策略，以有效地完成任务(例如，到达一组指定的目标)，同时避免碰撞。多机器人协调问题是通过求解一个在线的地平线后退混合整数规划来寻找合适的车辆输入。仿真结果验证了该方法的可行性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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On-line optimization-based coordination of multiple unmanned vehicles

The objective of this work is to investigate on-line optimization-based coordination strategies for robot teams to efficiently accomplish a mission (e.g., reach a set of assigned targets) while avoiding collisions. The multi-robot coordination problem is addressed by solving an on-line receding-horizon mixed-integer program to find some suitable inputs for the vehicles. Simulations results verify the feasibility of our approach.

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Proceedings. 2005 IEEE Networking, Sensing and Control, 2005.

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