摘要
针对现有多机器人协调避碰问题,提出了一种基于时间的多机器人协调避碰规划算法。首先,对机器人系统使用改进的栅格法进行环境建模,将其转化为一个关于机器人动作序列的问题。然后运用解耦法,第1阶段在构建好的模型中利用改进的A*算法规划单个机器人的静态无碰路径;第2阶段通过错开时间修改运动序列的方式实现多机器人之间无冲突的运动,即可达到多机器人协调避碰规划的目的。仿真实验结果表明:所设计的基于时间的多机器人协调避碰规划算法能够有效地实现多机器人的避碰路径规划。
A time-based multi-robot coordinated collision avoidance planning algorithm is proposed for the existing multi-robot coordinated collision avoidance problem. First,the improved grid method was used to model the environment of the robot system,which is transformed into a problem about the sequence of robot actions. Then the decoupling method was applied. In the first stage,the improved A* algorithm was used to plan the static collision-free path of a single robot in the constructed model.In the second stage,the collision-free motion between multiple robots was realized by staggering the time to modify the motion sequence,which can achieve the goal of multi-robot coordinated collision avoidance planning. Finally, the simulation experiments show that the time-based multi-robot coordinated collision avoidance algorithm can effectively realize multi-robot collision avoidance path planning.
作者
李波
易洁
LI Bo;YI Jie(Chongqing University of Technology,Chongqing 400054,China)
出处
《重庆理工大学学报（自然科学）》
CAS
北大核心
2019年第3期91-97,共7页
Journal of Chongqing University of Technology：Natural Science
基金
重庆市基础前沿研究重点项目(cstc2015jcyjBX0113)
关键词
多机器人系统
路径规划
协调避碰
multi-robot system
path planning
coordination of collision avoidance
