起重吊装多机器人系统协作避障规划研究  

Research of Cooperation Obstacle Avoidance Planning for Hoisting Multi-robot System

作　　者：林俊[1] 訾斌[1,2] 吴瑕[1] 

机构地区：[1]中国矿业大学机电工程学院,徐州221116 [2]浙江大学流体动力与机电系统国家重点实验室,杭州310027

出　　处：《自动化与仪表》2012年第4期5-9,共5页Automation & Instrumentation

基　　金：国家自然科学基金(50905179);浙江大学流体动力与机电系统国家重点实验室开放基金项目(GZKF-201112)

摘　　要：针对起重吊装多机器人系统实际作业情况,进行了该机器人系统协作避障规划研究。首先,基于栅格法提出了优化姿态转角--动态栅格法的路径规划改进算法;其次,设计了基于传感器技术的自适应协作系统。该协作避障方法具备了寻找全局最优路线的能力,同时实现了多机器人系统内部的稳定协调合作;最后,建立了Matlab与LabVIEW联合仿真系统,仿真结果表明该系统是可行且高效的。According to the practical operation of hoisting multi-mobile robots system,the cooperation obstacle avoidance planning was studied. Firstly,an improvement algorithm of optimization of the attitude angle-dynamic grid method for path planning was proposed based on grid method. In addition,the adaptive cooperation system was de- signed based on sensor technology. The system has the ability to search for the global optimal path,and the stable coordination of the multi-mobile robots internal system was achieved. Finally ,the co-simulation system was built using Matlab and LabVIEW. Simulation results show that the system was feasible and efficient.

关 键 词：起重吊装 多机器人 避障规划 协作 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]