信息与控制2017，Vol.46Issue(2)：211-217,7.DOI:10.13976/j.cnki.xk.2017.0211
时效优先的轮式机器人编队避障策略
Obstacle Avoidance Strategy of Wheeled Robot Formations Based on Time Efficiency
吴慧超 1罗元 1周前能 1尹云鹏2
作者信息
- 1. 重庆邮电大学光电工程学院, 重庆 400065
- 2. 重庆邮电大学通信与信息工程学院, 重庆 400065
- 折叠
摘要
Abstract
To overcome the high time consumption and poor environmental adaptability encountered during obstacle avoidance by a wheeled robot formation,we propose a strategy that combines a heuristic path planning function and an optimal formation transformation.First,we build a base of common robot formation knowledge and transformation time.Second,the optimal obstacle avoidance path is found according to the minimum time-consuming assessment value and calculated with a heuristic function and optimal formation transformation.Finally,the robot formation can pass through the obstacle areas in the topology of leader-follower.The simulation result shows that the proposed method is more effective and flexible compared with the traditional method.关键词
轮式机器人编队/避障/时效优先/路径启发函数/队形变换/耗时评估值Key words
wheeled robot formation/obstacle avoidance/time efficiency/heuristic path planning function/formation transformation/time-consuming assessment value分类
信息技术与安全科学引用本文复制引用
吴慧超,罗元,周前能,尹云鹏..时效优先的轮式机器人编队避障策略[J].信息与控制,2017,46(2):211-217,7.
