基于多参数优化的多机器人图案构成的分配算法  

Assignment algorithm of multi robot pattern formation based on multi parameter optimization

作　　者：张方方[1] 赵鹏博 曹家晖 辛健斌 刘艳红[1] ZHANG Fang-fang;ZHAO Peng-bo;CAO Jia-hui;XIN Jian-bin;LIU Yan-hong(College of Electrical and Information Engineering,Zhengzhou University,Zhengzhou 450000,China)

机构地区：[1]郑州大学电气与信息工程学院,郑州450000

出　　处：《控制与决策》2024年第4期1104-1112,共9页Control and Decision

基　　金：国家自然科学基金项目(62173311,62273311);河南省青年人才托举工程项目(2020HYTP006)。

摘　　要：在不同应用场景下多机器人系统的图案构成受到越来越多的关注,然而现有方法不能有效地优化在障碍物环境中的图案在线自主构成.为解决这一问题,提出一种新的基于目标匹配和路径优化的实时在线的优化算法.首先,以机器人与虚拟期望图案的距离为目标函数,建立一个多参数的图案构成模型,进而在一定的约束条件下求解得到最优的期望图案参数;其次,建立迭代控制器,使机器人在向目标点移动的过程中,可以实时在线地进行机器人与目标点的分配;然后,采用最佳避碰速度算法使机器人无碰撞地到达期望图案的目标点,完成图案构成;最后,通过在MATLAB和V-REP中的仿真实验,验证所提出方法的正确性和有效性.The pattern formation of multi robot systems in different scenes has attracted more and more attention.However,the existing methods can not effectively optimize the pattern formation in obstacle environment.To solve this problem,this paper proposes a new real-time online optimization algorithm based on target matching and path optimization.Firstly,taking the distance between the robot and the virtual desired pattern as the objective function,a multi parameter pattern composition model is established,and the optimal desired pattern parameters are obtained under certain constraints.Secondly,an iterative controller is established,so that the robot can allocate the robot and the target point in real time and online in the process of moving to the target point.Then,the optimal collision avoidance speed algorithm is used to make the robot reach the target point of the desired pattern without collision,and complete the pattern formation.Finally,simulation experiments in MATLAB and V-REP are designed to verify the correctness and effectiveness of the proposed method.

关 键 词：多机器人系统 图案构成 避障 路径优化 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]