多智能体机器人系统中的自适应导航算法  

Adaptive Navigation Algorithm in Multi-Agents Robots System

作　　者：李智军[1] 罗青[1] 吕恬生 

机构地区：[1]上海交通大学机器人研究所,上海200030

出　　处：《上海交通大学学报》2001年第7期1015-1019,共5页Journal of Shanghai Jiaotong University

摘　　要：根据机器人的运动方程 ,考虑移动障碍和机器人的速度信息及在它们与机器人之间 3个方程的距离 ,提出了动态环境中控制机器人导航的算法 ,得出机器人避障最小距离 ,并针对环境中典型的情况进行理论分析 .该算法减少了机器人实时计算路径的花费 ,特别适用于机器人在复杂、动态环境中实时路径控制 .所提算法的有效性由实验验证 .It is important for a robot to acquire adaptive navigation behaviors for avoiding other robots and obstacles. Considering the velocity information of moving objects and the distance between the robot and obstacle in three specified directions, this paper suggested an efficient approach to the collision avoidance in multi robots system. This approach is based on dynamic of robot. This paper provides a method called “adaptive navigation algorithm”, deduces the minimum distance of avoiding free and theoretically analyzes the typical cases. The algorithm decreases the computational cost and makes the robot navigation adaptively without collision with each other in complicated situation. The effectiveness is proved by experiment in the physical world.

关 键 词：自适应导航 移动机器人 避障路径 多智能体机器人系统 路径控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]