摘要
多机器人协调问题是当前机器人技术领域的研究热点和难点.对多机器人之间的协调理论进行研究具有重大的理论和实际意义.为此,提出了一种基于多目标决策理论的多机器人协调方法,给出室内环境的拓扑建模法.在环境的拓扑图中利用A 算法搜索出每个机器人的静态无碰路径,用拓扑图的节点保证机器人运动的大方向正确,在局部范围内根据多目标决策理论和避碰规则集协调机器人的运动.通过计算机仿真试验验证了此方法的有效性和可行性.
For multirobot cooperation and coordination is of great academic and applied significance,an approach is proposed for multirobot coordination using behavior based multiobjective decision theory,and a topological model of indoor environment with a static collisionfree path for every robot is presented by using the heuristic A* star arithmetic, and key nodes are used to ensure a rough path for every robot. The behavior sets in local areas are coordinated by using multiobjective decision and collision avoid rules. It is shown that robots can adaptively reach their goals during the simulation experiment.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
2003年第3期308-312,共5页
Journal of Harbin Engineering University
基金
黑龙江省博士后科研启动金资助项目(LRB-KY01014).
关键词
多目标决策
多机器人协调
环境建模
拓扑图
multi-objective decision
multi-robot coordination
environment modeling
topological graph
