多医用配送机器人系统实时路径规划方法研究  

Research on Real Time Path Planning Method of Multi Medical Distribution Robot System

作　　者：董钰颖 杨雷恒 DONG Yuying;YANG Leiheng(School of Aviation Maintenance Engineering, Xi’an Aeronautica1 Po1ytechnic Institute, Xi’an 710089, China)

机构地区：[1]西安航空职业技术学院,航空维修工程学院,陕西西安710089

出　　处：《微型电脑应用》2022年第6期171-173,共3页Microcomputer Applications

摘　　要：医用配送机器人代替医护人员完成日常配送任务是当今全世界急需完成的技术革新,对新型冠状病毒的控制起着至关重要的作用。然而,该技术仍未在世界范围内广泛普及是因为其存在一定难点,例如如何保证多辆机器人在不断变化的环境中无碰撞、按时的完成所有配送任务。对于上述问题,基于滚动时域提出一种实时路径规划策略和实时冲突避免策略,为多机协同路径规划问题的解决提供一定思路。The medical distribution robots instead of the medical staff to complete the daily distribution tasks is the technological innovation,which the whole world needs to be completed urgently.In a way,the approach plays a vital role in the control of new coronavirus.However,this technology has not been widely popularized all over the world because it has some difficulties to be solved.For example,how to ensure that multiple robots complete all distribution tasks without collision in the changing environment within the specified time range is a main problem.For the above problems,this paper proposes a real-time path planning strategy and real-time conflict avoidance strategy based on the rolling time domain,which provides a certain solution for multi-robots system real-time cooperative path planning.

关 键 词：多机协同路径规划 实时在线路径规划策略 实时冲突避免策略 

分 类 号：TP271+.8[自动化与计算机技术—检测技术与自动化装置]