多机器人路径规划的安全性验证  

Safety Verification of Trajectory Planning for Multiple Robots

作　　者：刘涛[1] 王淑灵[1] 詹乃军[1] 

机构地区：[1]计算机科学国家重点实验室(中国科学院软件研究所),北京100190

出　　处：《软件学报》2017年第5期1118-1127,共10页Journal of Software

基　　金：国家自然科学基金(91118007;6110006;61304185)~~

摘　　要：近年来,伴随着人工智能领域的浪潮,机器人越来越多地出现在我们的日常生活中,例如足球机器人、无人机、无人车等.如何保证这些自治机器人尤其是多个机器人在移动过程中的安全,成为人们一直很关心的问题.混成通信顺序进程(hybrid communicating sequential process,简称HCSP)是一种针对混成系统的形式化建模语言,在通信顺序进程(communicating sequential process,简称CSP)的基础上引入了微分方程以描述混成系统中的连续行为和控制逻辑,可以方便而高效地对大型控制系统,尤其是在有通信事件发生时的情形进行形式化建模.用HCSP建模多机器人的路径控制算法,并用定理证明工具HProver进行形式化验证,结果表明,在满足一定的初始条件下,机器人团队在整个运行途中不会发生碰撞.In recent years, with the rapid development of artificial intelligence, people encounter more and more robots, such as soccer robots, unmanned aerial vehicles, and unmanned automobiles in their daily life. How to guarantee the safety with those autonomous robots, especially team of robots on the move, has drawn people＇s attention. Hybrid CSP （HCSP） is a modelling language for hybrid systems. As an extension of CSP, HCSP introduces into CSP differential equations to describe the continuous behavior and control logic in hybrid systems. It can be used to model large-scale control systems, especially those with occurrences of communication events. In this paper, the trajectory planning algorithm is first modeled for multi robots using HCSP, and some properties are then formally proved with the theorem prover HProver. The paper finally proves that collision will never happen during the whole process under some initial conditions.

关 键 词：人工智能 机器人 混成通信顺序进程 混成系统 形式化验证 定理证明 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]