Intermittent diffusion-based path planning for heterogeneous groups of mobile sensors in cluttered environments
Document Type
Conference Proceeding
Publication Date
1-1-2023
Abstract
This paper presents a method for task-oriented path planning and collision avoidance for a group of heterogeneous holonomic mobile sensors. It is a generalization of the authors' prior work on diffusion-based path planning. The proposed variant allows one to plan paths in environments cluttered with obstacles. The agents follow flow dynamics, i.e., the negative gradient of a function that is the sum of two functions: the first minimizes the distance from desired target regions and the second captures distance from other agents within a field of view. When it becomes necessary to steer around an obstacle, this function is augmented by a projection term that is carefully designed in terms of obstacle boundaries. More importantly, a diffusion term is added intermittently so that agents can exit local minima. In addition, the new approach skips the offline planning phase in the prior approach to improve computational performance and handle collision avoidance with a completely decentralized method. This approach also provably finds collision-free paths under certain conditions. Numerical simulations of three deployment missions further support the performance of ID-based diffusion.
Identifier
85168681180 (Scopus)
ISBN
[9798350323658]
Publication Title
Proceedings IEEE International Conference on Robotics and Automation
External Full Text Location
https://doi.org/10.1109/ICRA48891.2023.10161324
ISSN
10504729
First Page
1601
Last Page
1608
Volume
2023-May
Grant
N00014-21-1-2856
Fund Ref
Office of Naval Research
Recommended Citation
Frederick, Christina; Zhou, Haomin; and Crosby, Frank, "Intermittent diffusion-based path planning for heterogeneous groups of mobile sensors in cluttered environments" (2023). Faculty Publications. 2215.
https://digitalcommons.njit.edu/fac_pubs/2215
