障碍环境下队形可变编队的路径规划方法研究  

Variable-Shape Formation Path Planning Method in Obstacle Environment

作　　者：王祝 张振鹏 张原宁 焦嵩鸣 WANG Zhu;ZHANG Zhenpeng;ZHANG Yuanning;JIAO Songming(Department of Automation,North China Electric Power University(Baoding),Baoding 071003,China)

机构地区：[1]华北电力大学(保定)自动化系,保定071003

出　　处：《无人系统技术》2022年第4期88-95,共8页Unmanned Systems Technology

基　　金：国家自然科学基金(61903033);中央高校基本科研业务费专项资金(2020MS116)。

摘　　要：面向机器人编队探索和侦察等任务,系统期望保持队形以保障任务效能,但障碍环境下队形保持可能引起路径长度增加,甚至没有可行路径。为了综合考虑队形保持、路径长度及路径存在性,提出一种队形可变编队的路径规划方法,为编队跟踪控制提供一条全局参考路径。首先,分别依据个体的占据空间和编队的占据空间,对障碍进行两次膨胀,获得包含硬障碍和软障碍的路径规划构型空间。然后,在基于A*的路径规划框架下,构建包含路径长度和软障碍穿越距离的加权代价函数,以获得多指标权衡的路径。最后,不同权重对比试验表明,所提算法对不同障碍环境具有更好的适应性,通过权重设定能获得满足不同需求的可行解,可以为编队提供满意的全局路径。同时,随机场景测试试验验证了算法具有良好的鲁棒性。提出的编队路径规划方法可以引导机器人编队在复杂环境下更安全和快速地完成任务。For formation tasks of unmanned systems such as exploration and reconnaissance,the formation shape is expected to be kept to ensure the mission effectiveness,while in an obstacle environment formation-keeping may result in the increasement of path length and even may lead to no feasible paths.To overall consider the requirement of shape keeping,path length and solution existence,a variable-shape formation path planning method is proposed to provide a global reference path of formation tracking control.First,according to the occupancy space of the single agent and the desired formation,the obstacle is twice inflated to generate the configuration space including hard obstacles and soft obstacles for path planning.Then,within the framework of A*-based path planning,a weighted cost function considering the global path length and the distance passing through soft obstacles is constructed to obtain the balanced path.Finally,the comparison experiments for different weights show that the proposed method has better adaptability to different obstacle environments and could acquire feasible solutions satisfying different requirements by different weight settings,which can provide a satisfied global path for formations.Meanwhile,the tests in random scenarios demonstrate the proposed algorithm has good robustness.The proposed formation path planning method can guide the robot formation to accomplish the task more safely and quickly in complex environment.

关 键 词：无人系统 路径规划 障碍规避 队形变换 编队控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]