计算机工程与应用2026，Vol.62Issue(10)：401-410,10.DOI:10.3778/j.issn.1002-8331.2601-0352
虚拟编队驱动的多机悬吊系统时空协同避障
Spatio-Temporal Coordinated Obstacle Avoidance for Multi-Robot Suspension System Driven by Virtual Formation
摘要
Abstract
To address the dual engineering challenges of the lack of spatio-temporal consistency in multi-robot motion and obstacle avoidance in complex environments for the end-driven suspension system,a spatio-temporal coordinated obstacle avoidance method based on virtual formation driving is proposed.A time-space dual-dimensional coordinated model is constructed,incorporating the spatial position constraints of the towing robot end and the time synchronization constraints into a unified framework.A leader-follower architecture virtual formation model is established,and a spatio-temporal parallel coordination strategy(optimizing the action sequence in the time dimension,and planning the overall obstacle avoidance trajectory of the formation in the spatial dimension)is proposed.An obstacle avoidance planning scheme based on the stable dung beetle optimizer(SDBO)is designed.Through improvement strategies such as reverse learning and sine-cosine strategies,the global search ability of the algorithm is enhanced,and an environment complexity adaptive switching mechanism is introduced to enhance the dynamic adaptability of the obstacle avoidance method.Through simulation and physical experiments,it is verified that this method can achieve collision-free trajectory planning in complex environments while ensuring the synchronization and coordination of multi-robot motion.The research results provide a technical basis for the end-driven dimension in force-position coordinated obstacle avoidance.关键词
悬吊系统/避障规划/时空协同/虚拟编队/稳定蜣螂优化(SDBO)算法/环境复杂度Key words
suspension system/obstacle avoidance planning/spatio-temporal coordination/virtual formation/stable dung beetle optimizer(SDBO)algorithm/environmental complexity分类
信息技术与安全科学引用本文复制引用
赵祥堂,吕斌,赵志刚,苏程,孟佳东..虚拟编队驱动的多机悬吊系统时空协同避障[J].计算机工程与应用,2026,62(10):401-410,10.基金项目
国家自然科学基金(51965032) （51965032）
甘肃省自然科学基金重点项目(22JR5RA319) （22JR5RA319）
甘肃省优秀博士生项目(23JRRA842). （23JRRA842）
