用群体意见动态模型解决多机器人过窄道死锁问题
Opinion-Driven Decision-Making for Multi-Robot Navigation through Narrow Corridors
- 引入非线性意见动力学模型协调多机决策
- 仿真显示能显著降低窄道通行时的死锁概率
- 适合大规模多机器人协同场景的路径规划
我们提出一种基于意见驱动的导航框架，用于多机器人在狭窄通道中的通行。该方法采用非线性意见动力学（NOD）多智能体决策模型，将窄道通过问题建模为多机器人导航博弈。通过将NOD模型与多机器人路径规划算法结合，实验证明该框架能有效降低通道通行时的死锁概率。为保证机器人数量增加时的可扩展性，引入博弈简化技术，实现大规模群体的高效协同。大量仿真研究验证了所提方法的有效性。
原文摘要 · Abstract (English)
We propose an opinion-driven navigation framework for multi-robot traversal through a narrow corridor. Our approach leverages a multi-agent decision-making model known as the Nonlinear Opinion Dynamics (NOD) to address the narrow corridor passage problem, formulated as a multi-robot navigation game. By integrating the NOD model with a multi-robot path planning algorithm, we demonstrate that the framework effectively reduces the likelihood of deadlocks during corridor traversal. To ensure scalability with an increasing number of robots, we introduce a game reduction technique that enables efficient coordination in larger groups. Extensive simulation studies are conducted to validate the effectiveness of the proposed approach.
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