改进互动速度障碍的多机器人协同避障

Multi-robot Cooperative Obstacle Avoidance Based on Interactive Velocity Obstacle

互动速度障碍法(RVO)是一种普遍应用于多机器人协同避碰的方法。标准的RVO方法将速度空间分为碰撞区域和无碰撞区域,并让机器人各自承担一半的避碰任务,但是由于各机器人本身半径大小不同,因此转动快慢也不一样。为此该文提出一种比例互动速度障碍(PRVO),保证各机器人按照自身大小选择最佳动作避碰,提高了避碰效率。在此基础上,该文还将其与动态窗口法(DWA)进行融合,即PRVO-DWA算法,解决了机器人受本身运动学性能影响,其选择的速度不一定是可达的问题。最后在ROS平台上对该方法进行了验证,仿真结果验证了该方法的可行性和有效性。

The reciprocal velocity obstacle method(RVO)is one of the methods widely used in the collaborative collision avoidance of multiple robots.In the standard RVO method,the velocity space is divided into collision area and non-collision area,and the robots each undertake half of the collision avoidance task.However,because the radius of each robot is different,its rotation velocity is also different.For this reason,this paper proposes a proportional reciprocal velocity obstacle(PRVO)to ensure that each robot chooses the best action according to its own size to avoid collision,thus improving the collision avoidance efficiency.On this basis,this paper also fuses it with dynamic window approach(DWA),namely PRVO-DWA algorithm,to solve the problem that the robot's selected velocity is not necessarily reachable due to its own kinematic performance.Finally,the method is verified on the ROS platform,and the simulation results verify the feasibility and effectiveness of the method.