多移动机器人路径规划仿真研究  

Simulation On Path Planning for Multiple Mobile Robot

作　　者：高强[1] 宋雨[1] 吕东澔[1] 陈莎莎[1] 

机构地区：[1]天津理工大学自动化学院,天津300384

出　　处：《计算机仿真》2014年第7期325-329,共5页Computer Simulation

基　　金：天津市中青年骨干创新人才培养计划项目(20130830);自动化课程群建设项目(天津市普通高等学校本科教学质量与教学改革研究计划项目)(JW20120315)

摘　　要：研究动态环境下多移动机器人之间运动协调和路径规划问题,为优化机器人从起始点到目标点运行的无碰撞轨迹,根据沃洛诺依(Voronoi)图将环境按照障碍物的分布划分为多个区域的特点,对Voronoi图的划分进行了改进,使其与动态环境相适应。改进后的Voronoi图法与改进后的人工势场法的路径规划算法,有效地避免了移动机器人陷入局部极小陷阱。仿真结果表明,改进后的路径规划方法不仅优化了机器人路径规划中循迹距离和循迹时间方面的性能指标,同时减少了能耗值,提升了机器人的工作效率。In order to realize no collision process of each robot in muhiple mobile robots and obstacles in dynamic environment, multi-robot motion coordination and path planning are studied. To adapt to the dynamic environment, the Voronoi diagram is improved in this paper based on the characteristic that Voronoi diagram can divide the environ- ment into muhiple regions in accordance with the distribution of obstacles. The improved Voronoi diagram has a good adaptation with the artificial potential field and can avoid local minima traps when they are taken to achieve the robot intelligent obstacle avoidance. Simulation results show that the improved algorithm can not only optimize the performance of the robot tracking distance and tracking time but reduce the energy-consumption value and greatly enhance the efficiency of the robot.

关 键 词：路径规划 沃洛诺依图 人工势场法 

分 类 号：TF39[冶金工程—冶金机械及自动化]