基于环境预测的步进式运动协调策略

摘要

为了解决未知动态环境下的多机器人系统的路径规划问题,在改进的势场栅格法的基础上,提出了一种基于环境预测的步进式多机器人运动协调策略.针对机器人躲避移动障碍物的避障运动和机器人之间避碰运动的不同,分别提出了协调策略Ⅰ和协调策略Ⅱ.为了验证协调策略的有效性,将该方法用于多机器人系统的路径规划中,并利用Visual C++进行仿真.仿真结果表明,用该方法进行路径规划是可行的和有效的,并且算法简单、计算量小.%To resolve path planning problem of multi-robot systems in unknown and dynamic environment, on the basis of the improved grid-potential field method, a kind of stepping motion coordination strategy based on environmental prediction for multiple robots system is proposed.Aimed at the difference of the collision avoidance among the robots and the obstacle avoidance between the mobile obstacle and the robot, coordination strategy Ⅰ and coordination strategy Ⅱ are put forward respectively.In order to validate the coordination strategy, this method is applied in path planning of multi-robot systems and simulated by using visual C++.The simulation results show that this method is feasible and effective, its algorithm is simple and its computational amount is small.