摘要
针对基本行为动力学在解决多机器人动态路径规划中存在的问题,充分考虑运动障碍物和其他机器人的速度信息,利用速度障碍为机器人规划了避障和避碰区域.根据路径规划的要求,利用行为动力学设计了奔向目标行为、避障行为和避碰行为3个基本行为,并提出利用粒子群优化方法对基本行为进行融合.利用Matlab对所提出的算法进行仿真,结果表明利用速度障碍、行为动力学和粒子群相结合的方法可以实现多机器人系统的动态路径规划,且方法简单,路径光滑.
Aimed at the problem existing in behavior dynamics method to carry out the path planning of multi-robot systems, considering the velocity of the mobile obstacles and the other robots, the obstacle avoidance and collision avoidance region were confirmed by the velocity obstacle. On the basis of the request of path planning, the behavior of moving to goals, one of avoiding obstacles, and one of collision avoidance were devised through the behavior dynamics method. Behavior fusion was achieved by using particle swarm optimization method. The proposed arithmetic was simulated by utilizing Matlab. Simulation results show that the combination method of velocity obstacle, behavior dynamics, and particle swarm may achieve path planning of multi-robot systems, and the arithmetic is simple and the path is smooth.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2011年第4期15-19,共5页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家'211工程'建设资助项目
关键词
多机器人系统
路径规划
行为动力学
速度障碍
粒子群
multi-robot systems
path planning
behavior dynamics
velocity obstacle
particle swarm
