動態障礙物環境中之擬剛體隊形運動規劃

Abstract

隨著無人載具的發展，多無人載具間的協同作業也是重要的研究課題，本研究探討多載具擬剛體隊形動態避障演算法之設計與可行性，以速度障區(Velocity Obstacles)為動態避障演算法基礎，並以擬剛體(Pseudo-Rigid Body)為概念進行擬剛體隊形設計，完成一套能夠在動態、靜態、單障礙物、多障礙物的二維環境中，進行多載具移動的編隊策略。 經由模擬與實驗結果驗證，本研究中擬剛體隊形動態避障演算法確實可行。透過攝影機擷取載具和障礙物的大小、位置、速度資訊，並以差速輪無人載具為實驗載具平台進行實驗，不論是在動態、靜態、單障礙物、多障礙物的環境中，均能成功以擬剛體隊形運動進行避障並順利由起始點移動至目標點。

With the development of unmanned vehicles, the cooperative operation among multiple unmanned vehicles has also been an important research topic. This study discusses the design and feasibility of the dynamic obstacle avoidance algorithm of multi-vehicle Pseudo-Rigid formation. The concept of Velocity Obstacles is used as the basis for the dynamic obstacle avoidance algorithm. In addition, based on the concept of Pseudo-Rigid Body, a set of techniques is established to move multiple vehicles in a two-dimensional environment with dynamic, static, single obstacle or multiple obstacles. The simulation and experimental results verify the feasibility of the Pseudo-Rigid formation dynamic obstacle avoidance algorithm in this study. After capturing the size, position and speed information of vehicles and obstacles through the camera, the differential-wheel unmanned vehicle was used as the experimental vehicle platform to conduct experiments. It was shown that whether in dynamic, static, single-obstacle, or multi-obstacle environments , the proposed algorithm can successfully drive the multi-vehicles in a Pseudo-Rigid formation from the starting point to the target point, without colliding with the obstacles.