基于时空冲突和非完整约束下的多AMR调度算法研究  

Research on multi-AMR scheduling algorithm based on spatiotemporal conflicts and nonholonomic constraints

作　　者：申子祥 孙训红 从永正 余兰林 SHEN Zi-xiang;SUN Xun-hong;CONG Yong-zheng;YU Lan-lin(School of Electrical Engineering and Automation,Hefei University of Technology,Hefei 230009,China)

机构地区：[1]合肥工业大学电气与自动化工程学院,合肥230009

出　　处：《控制与决策》2025年第3期981-986,共6页Control and Decision

基　　金：国家自然科学基金项目(62003276);中央高校基本科研业务费专项资金项目(JZ2022HGTB0299).

摘　　要：针对多自主移动机器人(AMR)调度系统中的决策规划问题,提出一种分层策略的基于时空冲突和非完整约束下的多AMR调度算法.首先,提出加权时空混合A*算法作为算法的底层,进行单AMR路径规划,以确保规划的路径满足阿克曼类型AMR的运动学模型;然后,引入结合分离轴定理的冲突检测树作为算法的上层,对底层算法规划出的路径进行精确地时空冲突检测,检测出的时空冲突被用作底层算法的时空约束;最后,再次调用底层算法,考虑时空约束进行路径规划,以实现高效的AMR冲突消解.仿真结果表明,所提出算法能够为多AMR调度系统高效地规划出满足非完整约束的无冲突路径.In order to address the decision planning problem in multi-AMR scheduling systems,this paper proposes a hierarchical strategy-based multi-AMR scheduling algorithm under spatiotemporal conflicts and nonholonomic constraints.Firstly,this paper proposes the weighted spatiotemporal hybrid A*algorithm as the lower-level of this algorithm to conduct single AMR path planning,ensuring that the planned paths conform to the kinematic model of the Ackermann-type AMR.Then,this paper proposes a conflict detection tree combined with the separating axis theorem as the upper-level algorithm to conduct precise spatiotemporal conflict detection on the paths planned by the lowerlevel of this algorithm.The detected spatiotemporal conflicts are utilized as the spatiotemporal constraints for the lower-level of this algorithm.Finally,the lower-level of this algorithm is utilized once again,taking into account the spatiotemporal constraints for path planning,to achieve efficient AMR conflict resolution.Simulation results demonstrate that the proposed approach efficiently generates conflict-free paths satisfying nonholonomic constraints for multi-AMR scheduling systems.

关 键 词：多AMR系统 非完整约束 时空冲突检测 加权时空混合A*算法 冲突消解 路径规划 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]