Decentralized, Noncooperative Multirobot Path Planning with Sample-BasedPlanners
In this thesis, the viability of decentralized, noncooperative multi-robot path planning algorithms is tested. Three algorithms based on the Batch Informed Trees (BIT*) algorithm are presented. The first of these algorithms combines Optimal Reciprocal Collision Avoidance (ORCA) with BIT*. The second...
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ftcalpoly:oai:digitalcommons.calpoly.edu:theses-3693 2023-11-12T04:24:08+01:00 Decentralized, Noncooperative Multirobot Path Planning with Sample-BasedPlanners Le, William 2020-03-01T08:00:00Z application/pdf https://digitalcommons.calpoly.edu/theses/2557 https://doi.org/10.15368/theses.2020.120 https://digitalcommons.calpoly.edu/context/theses/article/3693/viewcontent/LeThesis.pdf https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/0/type/additional/viewcontent/test_replan_nodes.csv.gz https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/1/type/additional/viewcontent/results_2.csv.gz https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/2/type/additional/viewcontent/nodes_2.csv.gz https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/3/type/additional/viewcontent/robot_time_2.csv.gz https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/4/type/additional/viewcontent/waypoints_2.csv.gz unknown DigitalCommons@CalPoly https://digitalcommons.calpoly.edu/theses/2557 doi:10.15368/theses.2020.120 https://digitalcommons.calpoly.edu/context/theses/article/3693/viewcontent/LeThesis.pdf https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/0/type/additional/viewcontent/test_replan_nodes.csv.gz https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/1/type/additional/viewcontent/results_2.csv.gz https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/2/type/additional/viewcontent/nodes_2.csv.gz https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/3/type/additional/viewcontent/robot_time_2.csv.gz https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/4/type/additional/viewcontent/waypoints_2.csv.gz Master's Theses Path Planning Robotics Multi-robot Controls and Control Theory text 2020 ftcalpoly https://doi.org/10.15368/theses.2020.120 2023-10-17T10:34:17Z In this thesis, the viability of decentralized, noncooperative multi-robot path planning algorithms is tested. Three algorithms based on the Batch Informed Trees (BIT*) algorithm are presented. The first of these algorithms combines Optimal Reciprocal Collision Avoidance (ORCA) with BIT*. The second of these algorithms uses BIT* to create a path which the robots then follow using an artificial potential field (APF) method. The final algorithm is a version of BIT* that supports replanning. While none of these algorithms take advantage of sharing information between the robots, the algorithms are able to guide the robots to their desired goals, with the algorithm that combines ORCA and BIT* having the robots successfully navigate to their goals over 93% for multiple environments with teams of two to eight robots. Text Orca DigitalCommons@CalPoly (California Polytechnic State University, San Luis Obispo) |
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DigitalCommons@CalPoly (California Polytechnic State University, San Luis Obispo) |
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Path Planning Robotics Multi-robot Controls and Control Theory |
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Path Planning Robotics Multi-robot Controls and Control Theory Le, William Decentralized, Noncooperative Multirobot Path Planning with Sample-BasedPlanners |
topic_facet |
Path Planning Robotics Multi-robot Controls and Control Theory |
description |
In this thesis, the viability of decentralized, noncooperative multi-robot path planning algorithms is tested. Three algorithms based on the Batch Informed Trees (BIT*) algorithm are presented. The first of these algorithms combines Optimal Reciprocal Collision Avoidance (ORCA) with BIT*. The second of these algorithms uses BIT* to create a path which the robots then follow using an artificial potential field (APF) method. The final algorithm is a version of BIT* that supports replanning. While none of these algorithms take advantage of sharing information between the robots, the algorithms are able to guide the robots to their desired goals, with the algorithm that combines ORCA and BIT* having the robots successfully navigate to their goals over 93% for multiple environments with teams of two to eight robots. |
format |
Text |
author |
Le, William |
author_facet |
Le, William |
author_sort |
Le, William |
title |
Decentralized, Noncooperative Multirobot Path Planning with Sample-BasedPlanners |
title_short |
Decentralized, Noncooperative Multirobot Path Planning with Sample-BasedPlanners |
title_full |
Decentralized, Noncooperative Multirobot Path Planning with Sample-BasedPlanners |
title_fullStr |
Decentralized, Noncooperative Multirobot Path Planning with Sample-BasedPlanners |
title_full_unstemmed |
Decentralized, Noncooperative Multirobot Path Planning with Sample-BasedPlanners |
title_sort |
decentralized, noncooperative multirobot path planning with sample-basedplanners |
publisher |
DigitalCommons@CalPoly |
publishDate |
2020 |
url |
https://digitalcommons.calpoly.edu/theses/2557 https://doi.org/10.15368/theses.2020.120 https://digitalcommons.calpoly.edu/context/theses/article/3693/viewcontent/LeThesis.pdf https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/0/type/additional/viewcontent/test_replan_nodes.csv.gz https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/1/type/additional/viewcontent/results_2.csv.gz https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/2/type/additional/viewcontent/nodes_2.csv.gz https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/3/type/additional/viewcontent/robot_time_2.csv.gz https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/4/type/additional/viewcontent/waypoints_2.csv.gz |
genre |
Orca |
genre_facet |
Orca |
op_source |
Master's Theses |
op_relation |
https://digitalcommons.calpoly.edu/theses/2557 doi:10.15368/theses.2020.120 https://digitalcommons.calpoly.edu/context/theses/article/3693/viewcontent/LeThesis.pdf https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/0/type/additional/viewcontent/test_replan_nodes.csv.gz https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/1/type/additional/viewcontent/results_2.csv.gz https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/2/type/additional/viewcontent/nodes_2.csv.gz https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/3/type/additional/viewcontent/robot_time_2.csv.gz https://digitalcommons.calpoly.edu/context/theses/article/3693/filename/4/type/additional/viewcontent/waypoints_2.csv.gz |
op_doi |
https://doi.org/10.15368/theses.2020.120 |
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1782338696968667136 |