多移动机器人实时最优运动规划

研究多移动机器人的实时运动规划问题，提出了运动规划问题的体系结构，并将最优控制与智能决策相结合，建立实时专家系统，在其支持下，使机器人在时间—能量最优情况下完成规划策略。仿真结果表明该方法具有很强的实时性。

This paper deals with real-time motion planning for multiple mobile robots in the working environment. An architecture for this problem is presented. On the basis of optimal control and intelligent decision, a real-time expert system is established. Under the support of the real-time expert system, motion planning can guarantee the time-energy optimality. The simulation results based on the scheme are presented to demonstrate its efficiency.

“863”计划,中科院机器人学开放研究实验室资助