动态环境下基于IVS算法的多机器人路径规划  

Multi-Robot Path Planning Based on IVS Algorithm in Dynamic Environment

作　　者：董海 关甜甜 DONG Hai;GUAN Tian-tian(School of Applied Technology,Shenyang University,Shenyang 110044,China;School of Machanical Engineering,Shenyang University,Shenyang 110044,China)

机构地区：[1]沈阳大学应用技术学院,沈阳110044 [2]沈阳大学机械工程学院,沈阳110044

出　　处：《组合机床与自动化加工技术》2022年第6期1-5,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金(71672117);中央引导地方科技发展资金计划(2021JH6/10500149)。

摘　　要：针对动态环境下的多机器人路径规划问题,采用改进虚拟弹簧算法(improved virtual spring algorithm,IVS)解决路径优化过程中局部最小值和障碍物附近目标不可达问题(GNRON)。首先,基于栅格法建立网络交互动态力学模型,描述多机器人系统网络结构;其次,以最优路径和最短时间为目标,基于机器人编队控制,提出IVS算法,同时建立有效的启发式规则,并根据动态障碍物自身的运动属性,重新规划一条障碍物少的路径;最后,采用MATLAB将本文方法与传统虚拟弹簧算法和动态A*算法进行仿真对比分析,验证IVS算法在解决多移动机器人路径规划问题上具有搜索效率高、避障能力强和环境适应性好的优势。The improved virtual spring algorithm(IVS)is used to solve the local minimum and GNRON problems in the path optimization process.Firstly,based on grid map,the dynamic mechanical model of network interaction is established,and the network structure of multi-robot system is described.Secondly,aiming at the optimal path and the shortest time,based on the robot formation control,propose improved virtual spring algorithm.At the same time,effective heuristic rules are established,and an optimal path with few obstacles is re-planned on the calculated path according to the motion attributes of dynamic obstacles themselves.Finally,this method is simulated and compared with traditional virtual spring algorithm and dynamic A*algorithm by MATLAB,and IVS algorithm with high search efficiency,strong obstacle ability and good environmrnt adaptability is verified.

关 键 词：多机器人路径规划 改进虚拟弹簧算法 机器人避障 物理拓扑模型 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]