基于广义势场的多机器人避碰算法  

Multi-Robot Collision Avoidance Algorithm Based on Generalized Potential Field

作　　者：赵东[1] 郑时雄[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510640

出　　处：《华南理工大学学报（自然科学版）》2010年第1期124-127,共4页Journal of South China University of Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(50675069)

摘　　要：针对目前多机器人避碰算法存在的计算复杂、缺乏普适性等的局限性,以传统人工势场法为基础,将协商和意愿引入人工势场范畴,提出了多机器人系统运动规划的广义势场算法.该算法以物理空间障碍为基础构造排斥势场,以意愿为基础构造吸引势场,并通过排斥势场与吸引势场的拓扑积构成人工势场.在人工势场中,通过对势场中微团运动趋势的求解就可得出所需的路径规划.实验证明,该算法不仅具有人工势场法系统模型构造简单、能够进行最优路径规划的优势,而且在系统运行过程中有效地避免了系统死锁的发生.As the existing multi-robot collision avoidance algorithm is of high computational complexity and poor applicability, a new algorithm based on the generalized potential field and the traditional artificial potential field-based algorithm, which takes into consideration the consult and desire of the robot, is proposed for the motion planning of multi-robot system. In this algorithm, a repellence potential field is built based on the obstacles in the physical space, a gravitation potential field is built based on the desire, and a generalized artificial potential field is built by the topological product of the repellence and the gravitation potential fields. By solving the motion trend of the mini- cells in the established artificial potential field, a road planning can be successfully implemented. Experimental re- sults indicate that, as compared with the traditional artificial potential field-based algorithm, the proposed algorithm is also simple in structure and is superior in terms of optimal path planning and mobile collision avoidance.

关 键 词：移动机器人 路径规划 避碰算法 广义势场 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]