多移动机器人路径无障碍智能规划算法仿真  

Simulation of Barrier-Free Intelligent Planning Algorithm for Multi-Mobile Robot Path

作　　者：熊焰[1] 刘金库[1] XIONG Yan;LIU Jin-ku(Engineering Innovation Practice Center,East China University of Science&Technology,Shanghai 201424,China)

机构地区：[1]华东理工大学工程训练中心,上海201424

出　　处：《计算机仿真》2023年第4期434-438,共5页Computer Simulation

摘　　要：传统的机器人路径规划方法易出现多个机器人的碰撞问题。为进一步优化规划效果,设计复杂环境多移动机器人进行路径无障碍规划放油阀。设计群体智能路径规划优化算法,计算多移动机器人碰撞风险,包括机器人与障碍物之间的碰撞风险,以及机器人与其它机器人之间的碰撞风险,规划智能规划多移动机器人最短无障碍路径。在仿真中,测试多种机器人路径规划算法在同一环境内的路径长度以及机器人碰撞次数。实验结果证明,可行路径为三条,所设计算法的路径长度均为最小值,且机器人的碰撞次数为0次,其它传统算法的碰撞次数分别为2次、1次、4次,由此可见所设计算法实现了多移动机器人路径无障碍规划的显著优化。The collision problem of multiple robots exists commonly in traditional methods.In order to further optimize the planning effect,this paper designed a multi-mobile robot in a complex environment to simulate barrierfree path planning.At first,a swarm intelligent optimization algorithm for path planning was designed to calculate the collision risks of multiple mobile robots,including the collision risks between robots and obstacles,as well as the collision risks with other robots.Based on intelligent planning,the shortest barrier-free path of multi-mobile robots was planned.In the simulation,the length of the path and the number of collisions between robots of multiple algorithms in the same environment were tested.Experimental results show that there are three feasible paths,and the designed algorithm can get the minimum path length.In addition,the number of collisions between robots is zero,while the number of collisions in traditional algorithms are two,one and four,respectively.It follows that the designed algorithm achieves significant optimization for barrier-free path planning of multi-mobile robots.

关 键 词：复杂环境 多移动机器人 路径无障碍规划 仿真 群体智能优化 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]