信息与控制2011，Vol.40Issue(4)：489-496,8.DOI:10.3724/SP.J.1219.2011.00489
多个关节机器人分布式协作运动规划
Distributed Cooperative Motion Planning for Multiple Articulated Robots
摘要
Abstract
A distributed cooperative motion planning method (DCMP) is proposed for the cooperative system of multiple autonomous articulated robots, which is a severe nonlinear coupling system. The decoupling cooperative motion planning problem can be decomposed into several independent subplanning of each robot by the predictive coordination variables and a decomposition-coordination method for large scale system theory. And a subsystem optimization model which can be calculated in a distributly iterative manner is obtained. Taking advantages of its global optimization characteristics and the constraint handling capability, the DCMP method solves several problems, including space-time optimization search in high-dimensional combined C-space and static-dynamic constraints handling, especially the velocity constraint problem which other methods are difficult to overcome. Simulations experiment result shows the effectiveness of the proposed method.关键词
关节机器人/分布式协作运动规划/多机器人协作/协同进化计算Key words
articulated robot/ distributed cooperative motion planning/ multi-robot cooperation/ co-evolution calculation分类
信息技术与安全科学引用本文复制引用
王梅,吴铁军,屠大维,赵其杰..多个关节机器人分布式协作运动规划[J].信息与控制,2011,40(4):489-496,8.基金项目
国家自然科学基金资助项目(60774102,51075252) （60774102,51075252）
上海大学创新基金资助项目(A10-0109-09-015). （A10-0109-09-015）
