基于协进化路标法的多机器人协作运动规划  

Motion Planning for Multi-robot Cooperation Based on Cooperative Co-evolutionary Roadmap Method

作　　者：王梅[1] 吴铁军[1] 

机构地区：[1]浙江大学工业控制技术国家重点实验室智能系统与决策研究所,浙江杭州310027

出　　处：《机器人》2006年第2期195-199,205,共6页Robot

摘　　要：针对多关节式机器人协作运动规划方面的难点,在随机路标法的启发下,提出了新颖的协进化路标规划法.这种方法充分利用了协进化算法在优化搜索方面的启发功能和遗传算法对约束条件的处理方法,解决了高维组合C空间的优化搜索问题、静态和动态约束问题和运动轨迹的时间优化问题.并且,通过实验验证了算法的有效性.Motion planning for multi-robot cooperation, especially for those robots with many degrees of freedom, is very difficult. Getting some ideas from prohabilistic roedmap method, we develop a new planner based on cooperative co-evolutionary roadmap method （CCRM）. With the help of the capabilities of heuristic search and constraint handling, which the cooperative co-evolutionary algorithms have, the new CCRM algorithms will deal with the problem of high-dimension combined configuration space and timing and spatial optimization that come with the multi-robot cooperation. The experiments show that the algorithm is efficient for multi-robot cooperation.

关 键 词：协进化路标法 运动规划 多机器人协作 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]