Distributed Model Predictive Contouring Control for Real-Time Multi-Robot Motion Planning  

作　　者：Jianbin Xin Yaoguang Qu Fangfang Zhang Rudy Negenborn 

机构地区：[1]the School of Electrical and Information Engineering,Zhengzhou University,Zhengzhou 450001,China [2]the Department of Marine and Transport Technology,Delft University of Technology,Delft,CD2628,the Netherlands

出　　处：《Complex System Modeling and Simulation》2022年第4期273-287,共15页复杂系统建模与仿真（英文）

基　　金：the National Natural Science Foundation of China(Nos.62173311,61703372,and 61603345);the College Youth Backbone Teacher Project of Henan Province(No.2021GGJS001);Henan Scientific and Technological Research Project(Nos.222102220123 and 212102310050);the Training Project of Zhengzhou University(No.JC21640030);the China Postdoctoral Science Foundation(No.2020M682346).

摘　　要：Existing motion planning algorithms for multi-robot systems must be improved to address poor coordination and increase low real-time performance.This paper proposes a new distributed real-time motion planning method for a multi-robot system using Model Predictive Contouring Control(MPCC).MPCC allows separating the tracking accuracy and productivity,to improve productivity better than the traditional Model Predictive Control(MPC)which follows a time-dependent reference.In the proposed distributed MPCC,each robot exchanges the predicted paths of the other robots and generates the collision-free motion in a parallel manner.The proposed distributed MPCC method is tested in industrial operation scenarios in the robot simulation platform Gazebo.The simulation results show that the proposed distributed MPCC method realizes real-time multi-robot motion planning and performs better than three commonly-used planning methods(dynamic window approach,MPC,and prioritized planning).

关 键 词：multi-robot system path planning model predictive contouring control distributed optimization 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]