AIR-TO-GROUND HETEROGENEOUS ROBOT SYSTEM PATH PLANNING METHOD BASED ON NEIGHBOURHOOD CONSTRAINT

摘要

An air-to-ground heterogeneous robot system path planning method based on neighbourhood constraint. A heterogeneous robot system is constituted by at least one ground mobile robot and at least one air flying robot. The method is characterized in that: the ground mobile robot and the air flying robot start from a starting point at the same time, successively access N sub-task points to execute sub-tasks and finally reach a destination together; and by taking into consideration the case where the position of each of the sub-tasks is allowed to be effective in a certain neighbourhood, neighbourhood constraint is introduced. In addition, the maximum speed constraint is taken into consideration respectively for the air flying robot and the ground mobile robot. The air-to-ground heterogeneous robot system can be guaranteed to fully utilize respective characteristics to realize advantage complementation, the tasks are completed in a certain neighbourhood range, the efficiency of path planning is improved, resources are saved, and the method is applicable to fields such as cooperative marine rapid rescue, target identification and communication networking, and cooperative environment sensing and positioning.