In this paper, a novel and innovative methodology for feasible motion planning in the multi-agent system is developed. On the basis of velocity obstacles characteristics, the chance constraints are formulated in the receding horizon control (RHC) problem, and geometric information of collision cones is used to generate the feasible regions of velocities for the host agent. By this approach, the motion planning is conducted at the velocity level instead of the position level. Thus, it guarantees a safer collision-free trajectory for the multi-agent system, especially for the systems with high-speed moving agents. Moreover, a probability threshold of potential collisions can be satisfied during the motion planning process. In order to validate the effectiveness of the methodology, different scenarios for multiple agents are investigated, and the simulation results clearly show that the proposed approach can effectively avoid potential collisions with a collision probability less than a specific threshold.
翻译:在本文中,为多试剂系统中可行的运动规划开发了一种新的创新方法,根据速度障碍特点,在递减地平线控制(RHC)问题中提出了机会限制,并使用碰撞锥的几何信息为东道代理创造可行的速度区域。通过这种方法,运动规划在速度水平而不是位置水平上进行。因此,它保证多试剂系统,特别是具有高速移动剂的系统,能够有一个更安全的无碰撞轨道。此外,在运动规划过程中,可以满足潜在碰撞的概率阈值。为了验证方法的有效性,对多种制剂的不同情景进行了调查,模拟结果清楚地表明,拟议的方法可以有效地避免碰撞概率低于特定阈值的潜在碰撞。