دورية أكاديمية
Active-sensing-based decentralized control of autonomous mobile agents for quick and smooth collision avoidance
| العنوان: | Active-sensing-based decentralized control of autonomous mobile agents for quick and smooth collision avoidance |
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| المؤلفون: | Takeshi Kano, Takeru Kanno, Taishi Mikami, Akio Ishiguro |
| المصدر: | Frontiers in Robotics and AI, Vol 9 (2022) |
| بيانات النشر: | Frontiers Media S.A., 2022. |
| سنة النشر: | 2022 |
| المجموعة: | LCC:Mechanical engineering and machinery LCC:Electronic computers. Computer science |
| مصطلحات موضوعية: | collision avoidance, active sensing, decentralized control, mobile agents, autonomous systems, Mechanical engineering and machinery, TJ1-1570, Electronic computers. Computer science, QA75.5-76.95 |
| الوصف: | There is an increasing demand for multi-agent systems in which each mobile agent, such as a robot in a warehouse or a flying drone, moves toward its destination while avoiding other agents. Although several control schemes for collision avoidance have been proposed, they cannot achieve quick and safe movement with minimal acceleration and deceleration. To address this, we developed a decentralized control scheme that involves modifying the social force model, a model of pedestrian dynamics, and successfully realized quick, smooth, and safe movement. However, each agent had to observe many nearby agents and predict their future motion; that is, unnecessary sensing and calculations were required for each agent. In this study, we addressed this issue by introducing active sensing. In this control scheme, an index referred to as the “collision risk level” is defined, and the observation range of each agent is actively controlled on this basis. Through simulations, we demonstrated that the proposed control scheme works reasonably while reducing unnecessary sensing and calculations. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2296-9144 91118514 |
| العلاقة: | https://www.frontiersin.org/articles/10.3389/frobt.2022.992716/fullTest; https://doaj.org/toc/2296-9144Test |
| DOI: | 10.3389/frobt.2022.992716 |
| الوصول الحر: | https://doaj.org/article/f91118514c804671b24a733ab8ebbcc8Test |
| رقم الانضمام: | edsdoj.f91118514c804671b24a733ab8ebbcc8 |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 22969144 91118514 |
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| DOI: | 10.3389/frobt.2022.992716 |