물체 회피

[Geonhee-LEE]

• [ ] RVO2/ORCA 와 같은 물체 회피 제어 기법

[Geonhee-LEE]

1. https://github.com/atb033/multi_agent_path_planning
2. https://github.com/vita-epfl/CrowdNav
3. https://github.com/LyapunovJingci/Warehouse_Robot_Path_Planning

[Geonhee-LEE]

PythonRobotics

https://github.com/AtsushiSakai/PythonRobotics (matplotlib(시각화), Python 3.9.x, NumPy, SciPy, pandas, cvxpy)

multi_agent_path_planning

https://github.com/atb033/multi_agent_path_planning (matplotlib(시각화), numpy.lp(VO), scipy.optimize(NMPC))

• Python implementation of a bunch of multi-robot path-planning algorithms.

  • Centralized Solutions : it is the responsibility of the central planner to provide a plan to the robots.

    • Prioritized Safe-Interval Path Planning (SIPP): SIPP is a local planner, using which, a collision-free plan can be generated, after considering the static and dynamic obstacles in the environment. In the case of multi-agent path planning, the other agents in the environment are considered as dynamic obstacles.
    • Conflict Based Search(CBS): Conclict-Based Search (CBS), is a multi-agent global path planner.

  • Decentralized solutions : it is the responsibility of each robot to find a feasible path. Each robot sees other robots as dynamic obstacles, and tries to compute a control velocity which would avoid collisions with these dynamic obstacles.

    • Velocity obstacles: reciprocal velocity obstacle for collision-free and oscillation-free navigation of multiple mobile robots or virtual agents
    • Nonlinear Model-Predictive Control : A model-based controller is employed to achieve simultaneously reference trajectory tracking and collision avoidance.

  • REFs

    • Prioritized Safe-Interval Path Planning (SIPP): https://www.cs.cmu.edu/~maxim/files/sipp_icra11.pdf
    • Conflict Based Search(CBS): https://www.sciencedirect.com/science/article/pii/S0004370214001386
    • https://arxiv.org/abs/1703.01164
    • Velocity obstacles: https://gamma.cs.unc.edu/HRVO/HRVO-T-RO.pdf
    • Nonlinear Model-Predictive Control: https://arxiv.org/abs/1703.011642.

CrowdNav

https://github.com/vita-epfl/CrowdNav (Pytorch(학습), RVO2(ORCA), matplotlib(시각화), gym.env(학습))

• Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learning
  • CADRL :
  • ORCA :
  • LSTM-RL :
  • SARL :
  • OM-SARL :
  • // 후속 논문: RelationalGraphLearning