范国梁, 王云宽. 基于几何方法的多智能体群体刚性运动的路径规划[J]. 机器人, 2005, 27(4): 362-366.
引用本文: 范国梁, 王云宽. 基于几何方法的多智能体群体刚性运动的路径规划[J]. 机器人, 2005, 27(4): 362-366.
FAN Guo-liang, WANG Yun-kuan. Path Planning of Swarm Rigid Motion for Multi Intelligent Agents Based on Geometric Methods[J]. ROBOT, 2005, 27(4): 362-366.
Citation: FAN Guo-liang, WANG Yun-kuan. Path Planning of Swarm Rigid Motion for Multi Intelligent Agents Based on Geometric Methods[J]. ROBOT, 2005, 27(4): 362-366.

基于几何方法的多智能体群体刚性运动的路径规划

Path Planning of Swarm Rigid Motion for Multi Intelligent Agents Based on Geometric Methods

  • 摘要: 利用微分几何的方法在特殊欧氏群(Special Euclidean Group)上研究刚性运动.对于已知边界约束条件的多智能体群体刚性运动路径规划问题,采用了虚拟结构的模式;通过建立基于能量的最优准则,在特殊欧氏群上推导了多智能体协调运动的最优轨迹.所得到的最优轨迹是光滑的,而且与空间惯性坐标系的选择无关.该方法对于描述和规划多智能体的群体刚性运动具有广泛的适用性.

     

    Abstract: Based on geometric mathods, rigid body motion is studied on SE(3). As to the path planning problem of multi intelligent agents with known boundary conditions, virtual structure is adopted. Under the kinetic energy function, the optimal path is deduced on SE(3). The resulting trajectories are smooth and invariable to the interia frame. The mathod can be used widely to the motion planning of multi intelligent agents.

     

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