ボロノイ分割を用いた壁状障害物の回避のための母点生成法の提案

抄録

Zhou et al. proposed a mutual collision avoidance algorithm based on “Buffered Voronoi Cells (BVC)” for quadrotors. This approach allows the control input to be easily determined using only the relative position of the quadrotors. However, when it was applied to quadrotors in an environment with stationary obstacles, “deadlock” occurs sometimes in which the quadrotors could not reach the goal. In addition, it was assumed that each quadrotor could use the relative position of obstacles anytime, and it was not discussed how to get the information in the conventional method. In this paper, we propose methods to avoid deadlock and generate Voronoi seeds from the local information obtained by laser sensors mounted on the quadrotor. Then, we verified the operation of the proposed methods by simulations. As a result, we confirmed the quadrotors could move to the specified target position without colliding based on sensor data.