序贯博弈的多机器人协调避障  

Multi-robot coordination for obstacle avoidance based on sequential game

作　　者：王丽华[1] 岑豫皖[1] 暴伟[2] 

机构地区：[1]安徽工业大学机械工程学院,马鞍山243002 [2]安徽工业大学管理科学与工程学院,马鞍山243002

出　　处：《现代制造工程》2009年第8期150-152,141,共4页Modern Manufacturing Engineering

基　　金：安徽省教育厅自然科学基金重点研究项目(KJ2007A052);安徽省自然科学基金项目(070414154)

摘　　要：针对复杂环境下多机器人避障冲突问题,提出一种基于序贯博弈机制的多机器人协调避障算法,该算法以速度大小作为序贯博弈的优先级排序标准,将多机器人碰撞冲突解决问题转化为求解系列子博弈的均衡解,由子均衡解组合成系统的最优策略,算法为个体机器人设计了多目标优化性能函数,在提高系统性能的同时,实现了个体利益的尽可能最大,仿真验证了该算法的有效性。Introduced a motion planning algorithm for real-time multi-robot coordination for obstacle avoidance. This algorithm established different priority of sequential game according to the velocity of robots and it converted the problem of multi-robot collision into the solution of sequential sub-games which construct the optimal strategy of the system. Multi-objective optimization function was implemented to improve the whole and individual performance. Simulation results indicated that the strategy was feasible and practicable.

关 键 词：多机器人协调 序贯博弈 避障 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]