우선순위 속도 계획을 통한 조율된 다중 로봇 군집주행

Abstract

Coordinated platooning in unstructured environments requires complex planning to enable multiple robots to form a group. The planner should maintain safe distances between the robots while following a planned global path. Additionally, to efficiently deploy missions involving a leader-follower concept, the planner should schedule the robots to merge onto the desired route based on their priorities, ensuring they form a coordinated, single-file formation without collisions. In this paper, we introduce a prioritized velocity planning that enables coordinated multi-robot platooning. We utilize the Intelligent Driver Model (IDM) as an adaptive cruise control algorithm to maintain safe distances between multiple robots while they follow a desired speed. By leveraging IDM’s features, we design the Prioritized IDM (P-IDM) to employ velocity planning with varying levels of aggressiveness based on each robot’s priority. This allows the multi-robot system to form a coordinated platoon in unstructured scenarios without the need for centralized scheduling. In our experiments, a hierarchical framework incorporating our prioritized velocity planner demonstrates time-efficient and safe platooning in diverse unstructured environment scenarios.