机器人2000，Vol.22Issue(6)：474-481,8.
一种多移动机器人避碰规划方法
A METHOD OF COLLISION FREE PLANNING FOR MULTI-ROBOT
欧锦军 1朱枫1
作者信息
- 1. 中国科学院沈阳自动化研究所中国科学院机器人学开放研究实验室 沈阳 110015
- 折叠
摘要
Abstract
A centralized motion planning method has been presented in this paper, it realizes the collisionavoidance in a multi-robot system by adjusting the velocity of robots. The basic idea of this method is: thepaths of robots are segmented to several sub-paths first, and then the restrictions to the time of robot passingthrough these sub-paths can be established according to the request of collision avoidance. So, the questionhas been converted to an optimal question in a linear-space and it can be resolved by a group of linearequations in closed form. Because this method has a high complexity, several ways have been developed toreduce the burden of calculation. The basic idea of this method, some related theorem and their proving, themethod of predigestion are presented in this paper, the simulation results and a short discussion are also givenin the last session of this paper.关键词
移动机器人/运动规划/多机器人避碰Key words
mobile robot/motion planning/collision avoidance of multi-robot分类
信息技术与安全科学引用本文复制引用
欧锦军,朱枫..一种多移动机器人避碰规划方法[J].机器人,2000,22(6):474-481,8.
