首页|期刊导航|哈尔滨工业大学学报（英文版）|Collision avoidance planning in multi-robot system based on improved artificial potential field and rules
哈尔滨工业大学学报（英文版）2009，Vol.16Issue(3)：413-418,6.
Collision avoidance planning in multi-robot system based on improved artificial potential field and rules
Collision avoidance planning in multi-robot system based on improved artificial potential field and rules
摘要
Abstract
For real-time and distributed features of multi-robot system, the strategy of combining the improved artificial potential field method and the mles based on priority is proposed to study the collision avoidance planning in multi-robot systems. The improved artificial potential field based on simulated annealing algorithm satisfactorily overcomes the drawbacks of traditional artificial potential field method, so that robots can find a local collision-free path in the complex environment. According to the movement vector trail of robots, collisions between robots can be detected, thereby the collision avoidance rules can be obtained. Coordination between robots by the priority based rules improves the real-time property of multi-robot system. The combination of these two methods can help a robot to find a collision-free path from a starting point to the goal quickly in an environment with many obstacles. The feasibility of the proposed method is validated in the VC-basod simulated environment.关键词
artificial potential field/simulated annealing/avoiding rules/collision avoidance planning/multirobotsKey words
artificial potential field/simulated annealing/avoiding rules/collision avoidance planning/multirobots分类
信息技术与安全科学引用本文复制引用
YUAN Xin,ZHU Qi-dan,YAN Yong-jie..Collision avoidance planning in multi-robot system based on improved artificial potential field and rules[J].哈尔滨工业大学学报（英文版）,2009,16(3):413-418,6.基金项目
Science Foundation for Youths of Heilongjiang province (Grant No. QC08C05). （Grant No. QC08C05）
