面向不确定性的多机器人路径鲁棒规划研究综述  

Survey on robust multi-robot path planning under uncertainty

作　　者：张书凡 毛剑琳[2] 张凯翔 李睿祺 李大炎 王妮娅[2] ZHANG Shu-fan;MAO Jian-lin;ZHANG Kai-xiang;LI Rui-qi;LI Da-yan;WANG Ni-ya(Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,China;Faculty of Information Engineering and Automation,Kunming University of Science and Technology,Kunming 650500,China)

机构地区：[1]昆明理工大学机电工程学院,昆明650500 [2]昆明理工大学信息工程与自动化学院,昆明650500

出　　处：《控制与决策》2024年第12期3873-3888,共16页Control and Decision

基　　金：国家自然科学基金项目(62263017)。

摘　　要：多机器人路径规划为共享工作环境中的多个机器人规划从起始位置到目标位置的无冲突路径集合,是多智能体领域协同规划方向的重要课题.然而,时钟漂移、动态障碍物、机器故障等现实因素,可能会导致多机器人系统的实际执行过程与规划方案存在时间上的偏差,使机器人之间发生意外冲突.面向不确定性因素展开多机器人路径鲁棒规划并在一定程度上保证规划方案的安全执行,是当前路径规划领域的挑战之一.对此,首先整理不确定性下多机器人路径规划的问题描述;然后分别从面向不确定性的鲁棒规划算法、在线执行策略以及评价指标等方面对目前研究进行综述,讨论各类解决方法的思路和特点;最后对多机器人路径鲁棒规划研究的关键技术进行展望.Multi-robot path planning,aimed at finding conflict-free paths for multiple robots to navigate from their initial positions to their respective target positions within a shared working environment,is pivotal in multi-robot collaborative planning.However,practical factors such as clock drift,moving obstacles and machine faults may lead to temporal deviations between actual and planned execution processes of the multi-robot system,resulting in unexpected conflicts among robots.Robust multi-robot path planning under uncertainty,along with ensuring the safe execution of plans to a certain extent,is a research hotspot in the field of path planning.This article begins by summarizing the problem description of multi-robot path planning under uncertainty.It then reviews existing studies from perspectives of robust planning algorithms and online execution strategies as well as corresponding evaluation metrics.The logic and characteristics of various methods are discussed.Finally,the future research directions of the critical technologies in robust multi-robot path planning are put forward.

关 键 词：多机器人路径规划 不确定性建模 鲁棒规划 冲突概率 在线执行策略 冲突和死锁避免 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]