基于人工协调场的多移动机器人实时协调避碰规划

为克服传统人工势场在动态未知环境下机器人避碰规划中存在的缺陷,提出人工协调场法(ACF).将场函数与机器人的风险状态相结合,给出并讨论了人工协调场的基本设计.基于人工协调场,考虑机器人的运动约束,实现了多机器人之间以及机器人与环境间的实时协调避碰,提出了一个多移动机器人无死锁实时避碰规划算法.理论分析和仿真试验证明所提方法的有效性.

To overcome the drawbacks of the conventional artificial potential fields in motion planning of mobile robots for dynamic uncertain environments,an artificial coordinating field (ACF) is proposed.Definitions and basic designs of the ACFs were investigated with regard to the collision risk and motion constraints of mobile robots.Based on the ACFs,an effective algorithm without  the "dead-lock" for coordinating collision avoidance of multiple mobile robots in dynamic uncertain environments was developed.The theorical analysis and simulations illustrated our results.

国家自然基金项目(60131160741;;60334010).