多移动机器人路径规划仿真平台研究  

Design simulation platform for multi-robot path planning

作　　者：张捍东[1] 张永强[2] 

机构地区：[1]安徽工业大学电气信息学院,安徽马鞍山243002 [2]安徽工业大学计算机学院

出　　处：《计算机应用研究》2008年第4期1020-1022,共3页Application Research of Computers

基　　金：国家自然科学基金资助项目(50407017);安徽省教育厅自然科学基金资助项目(2004KJ058,2006KJ019A,KJ2007A052)

摘　　要：多机器人路径规划仿真平台(multi-robot path planning simulation platform)是通用的多机器人路径规划及协调与合作系统。该系统能将机器人状态数据及时地以二维图形方式显示,并且能模拟现实工作环境,监测机器人动作,检测机器人与环境物体间的碰撞,通过一系列仿真技术,使得原来必须用实际机器人作为对象的研究活动在一定程度上转移到计算机中虚拟进行。比较详细地描述了仿真平台系统的设计原理、模型结构和运行方式,并讨论了构成系统的关键技术特点。Multi-robot path planning simulation platform is universal system of mobile multi-robot path planning, coordination and collaboration. The system showed robots＇ state data as two-dimensional form in real-time, and it simulated true work environment and detected collision between robots and objects. Through a series simulation methods, the system transferred research work that must be done by real robot to computer simulation to some certain extent, It described the design principle, model structure and operation manner of system in detail, and also presented the key technology of system configuration.

关 键 词：路径规划 仿真 面向对象技术 多机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]