Energy-Optimal Motion Planning for Multiple Robotic Vehicles With Collision Avoidance


We propose a numerical algorithm for multiple-vehicle motion designing that explicitly takes into account the vehicle dynamics, temporal and spatial specifications, and energy-connected needs. As a noteworthy example, we have a tendency to consider the case where a group of vehicles is tasked to achieve a range of target points at the same time (simultaneous arrival downside) while not colliding among themselves and with obstacles, subject to the need that the general energy required for vehicle motion be minimized. With the theoretical setup adopted, the vehicle dynamics are explicitly taken into consideration at the design level. This paper formulates the matter of multiple-vehicle motion coming up with in a rigorous mathematical setting, describes the optimization algorithm used to unravel it, and discusses the key implementation details. The efficacy of the strategy is illustrated through numerical examples for the simultaneous arrival downside. The initial guess to start the optimization procedure is obtained from straightforward geometrical issues, e.g., by joining the specified initial and final positions of the vehicles via straight lines. Even though the initial trajectories therefore obtained could end in intervehicle and vehicle/obstacle collisions, we tend to show that the optimization procedure that we employ in this paper can generate collision-free trajectories that also minimize the overall energy spent by every vehicle and meet the specified temporal and spatial constraints. The tactic developed applies to a very general category of vehicles; however, for clarity of exposition, we tend to adopt as an illustrative example the case of wheeled robots.

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