一种改进多机器人分布式滚动路径规划算法  

Modified Distributed Rolling Algorithm for Multi-robots Path-planning

作　　者：李静[1] 席裕庚[1] 

机构地区：[1]上海交通大学自动化研究所,上海200240

出　　处：《控制工程》2007年第5期540-543,共4页Control Engineering of China

基　　金：国家自然科学基金资助项目(60474002);上海市科技发展基金资助项目(04DZ11008)

摘　　要：针对多移动机器人全局静态环境未知的路径规划问题,采用了一个全局性能指标,在保证路径较优的情况下,最小化机器人的停顿时间,提出机器人之间以修正局部路径为主的协调策略。根据多机器人滚动路径算法的原理,设计了改进的多机器人分布式滚动路径规划算法。在已有仿真系统上进行测试,比较了所提出的协调策略与改变机器人移动速度协调策略对性能指标的影响。仿真结果表明,静态环境未知情况下,机器人可以并行规划各自的协调路径。A global objective function for multi-robots path-planning in unknown static environment is presented to minimize the pause time of robots under the condition of comparatively optimal path. A coordination strategy for robots to mainly correct local paths is proposed. Based on the principle of rolling path-planning algorithm, a modified distributed rolling algorithm for multi-robots path-planning is given. It is tested on the general-purpose mobile robot path-planning simulation platform. The impacts on the objective function of this coordination strategy is com- pared with the strategy of only changing robot speed. Simulation results show that robots can plan no-collision path parallel in unknown static environment.

关 键 词：多移动机器人路径规划 分布式 滚动规划 局部规划 通信 协调 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]