基于改进快速行进平方法的多移动机器人聚集路径规划与控制  

Gathering Path Planning and Control of Multi-mobile Robots Based on Improved Fast Marching Square Method

作　　者：黄斌[1,2,3] 俞凯文 周柏李 方虹斌 Huang Bin;Yu Kaiwen;Zhou Boli;Fang Hongbin(Institute of AI and Robotics,Fudan University,Shanghai 200433,China;MOE Engineering Research Center of AI&Robotics,Fudan University,Shanghai 200433,China;Shanghai Engineering Research Center of AI&Robotics,Fudan University,Shanghai 200433,China)

机构地区：[1]复旦大学智能机器人研究院,上海200433 [2]复旦大学智能机器人教育部工程研究中心,上海200433 [3]复旦大学上海智能机器人工程技术研究中心,上海200433

出　　处：《动力学与控制学报》2023年第12期96-106,共11页Journal of Dynamics and Control

基　　金：国家重点研发计划“智能机器人”重点专项(2020YFB1312900);装备预研教育部联合基金(8091B032150);国家自然科学基金资助项目(11932015)资助项目。

摘　　要：针对多移动机器人聚集的路径规划与控制问题,本文提出了基于改进快速行进平方法的路径规划策略.首先,运用分段函数改进了速度图,实现了更安全、更高效的路径规划,可以将快速行进网格地图上的速度映射到真实机器人速度上,并且减少传统快速行进平方法在回溯路径过程中产生的冗余路径;接着,针对多移动机器人聚集过程总能耗最小、聚集点附近空间最大、聚集队形约束下的聚集过程总能耗最小三种任务需求,分析设计不同的目标函数,给出多移动机器人的聚集点和对应规划路径,展示本文方法的有效性以及在不同场景下的适用性.最后,在车辆动力学模型基础上,使用模型预测控制以改进后的快速行进网格地图上的速度作为机器人参考速度进行了轨迹跟踪仿真实验,实现结果显示跟踪误差减小,验证了本文改进速度场的有效性,可适用于真实环境下多移动机器人聚集路径规划与控制.Aiming at the path planning and control problem of multi-mobile robot gathering,this paper proposes a path planning strategy based on an improved fast marching square method.Firstly,the segmentation function is applied to improve the velocity map to realize safer and more efficient path planning,which can map the velocities on the fast marching grid map to the real robot velocities and reduce the redundant paths generated by the traditional fast marching square method in the process of backtracking the paths;then,for the three task requirements of minimizing the total energy consumption in the gathering process of the multi-mobile robots,maximizing the space near the gathering point,and minimizing the total energy consumption of the gathering process under the constraints of the gathering formation,different objective functions are analyzed and designed to give the gathering point of multi-mobile robots and the corresponding paths,which demonstrates the validity of this paper's method as well as its applicability in different scenarios.Finally,on the basis of the vehicle dynamics model,trajectory tracking simulation experiments are carried out using the model predictive control with the improved speed on the fast marching grid map as the robot's reference speed,and the results show that the tracking error is reduced,which verifies the effectiveness of the improved speed field of this paper,and it can be applied to the gathering path planning and control of multi-mobile robots in the real environment.

关 键 词：快速行进平方法 多移动机器人 聚集 路径规划 模型预测控制 

分 类 号：O313.7[理学—一般力学与力学基础] TP242.6[理学—力学]