动态环境中多移动机器人路径规划的一种新方法  

A Novel Approach for Multiple Mobile Robot Path Planning in Dynamic Environment

作　　者：邬再新[1] 李艳宏[1] 刘涛[1] 周伦才[1] 

机构地区：[1]兰州理工大学机电工程学院,兰州730050

出　　处：《组合机床与自动化加工技术》2008年第3期25-27,共3页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：动态环境下,多移动机器人路径规划是一个具有挑战性的课题,文章提出了一种新的人工势场法(APF),在这个方法里,机器人在目标点和静态障碍物的影响下到达目标位置,当两个或更多的机器人在安全的距离范围内相遇时,机器人将依据它们所承担的任务,速率和大小决定它们的优先权,具有高的优先权的机器人将首先通过交叉点,如果具有同样的优先权,机器人之间随机的产生优先顺序,通过此方式可以避免彼此碰撞,仿真结果证明此方法是有效的。Multiple mobile robot path planning in dynamic environment is challenging. In this paper a novel artificial potential field （APF） based approach is proposed. In this approach, a robot will be pulled to the goal position with the influence of the goal and static obstacles. When two or more robots meet at the range of safe distance, those robots will be prioritized according to the priority of the task they undertake, velocity and their size. The robot with higher priority will pass the intersection first. If they have the same priority, they will generate a priority order randomly to each other. By this way, they will avoid collision between each other. Simulation results are effective.

关 键 词：多移动机器人 路径规划 人工势场 动态环境 APF 

分 类 号：TG65[金属学及工艺—金属切削加工及机床] TP242[自动化与计算机技术—检测技术与自动化装置]