摘要
为进一步提高带窗口的层次化协作A^(*)算法(WHCA^(*))进行多机器人路径规划时的效率,提出减少邻域扩展的策略,即重新定义机器人的邻域搜索范围以减少搜索空间、降低搜索时间,进而提高算法效率。同时,为了应对运行过程中出现的机器人失联状况,提出以决策博弈为核心的改进WHCA^(*)算法DG-WHCA^(*),用于处理复杂场景下多机器人之间的碰撞和阻塞问题。在机器人移动配送系统仿真框架RAWSim-O下的仿真实验结果表明,改进算法相较于原始WHCA^(*)算法的搬运效率提高了3.14%,行驶距离降低了2.17%;在有机器人失联的情况下,改进算法能有效避免碰撞与阻塞,相较原始WHCA^(*)算法的搬运效率提高了3.69%。
To further improve the efficiency of the windowed hierarchical collaborative A^(*)algorithm(WHCA^(*))in multi robot path planning,a strategy is proposed to reduce neighborhood extension,which involves redefining the robot's neighborhood search range to reduce search space and time,thereby improving the algorithm's efficiency.At the same time,in order to cope with the situation of robot disconnection during operation,an improved WHCA^(*)algorithm DG-WHCA^(*)with decision game as the core is proposed to handle collision and blockage problems between multiple robots in complex scenarios.The simulation experiment results under the RAWSim-O framework for robot mobile delivery system show that the improved algorithm improves the handling efficiency by 3.14%and reduces the driving distance by 2.17%compared to the original WHCA^(*)algorithm;In the case of robot disconnection,the improved algorithm can effectively avoid collisions and blockages,with a 3.69%increase in handling efficiency compared to the original WHCA^(*)algorithm.
作者
钟志峰
张智浩
易晓婕
严诗玛
孙玉坤
ZHONG Zhifeng;ZHANG Zhihao;YI Xiaojie;YAN Shima;SUN Yukun(School of Artificial Intelligence,Hubei University,Wuhan 430062,China)
出处
《软件导刊》
2025年第9期55-61,共7页
Software Guide
基金
湖北省技术创新专项(2018ACA13)。
