邻域约束下空地异构机器人系统路径规划方法

doi:10.13973/j.cnki.robot.2017.0001

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陈洋, 谭艳平, 程磊, 吴怀宇. 邻域约束下空地异构机器人系统路径规划方法[J]. 机器人, 2017, 39(1): 1-7.DOI: 10.13973/j.cnki.robot.2017.0001. CHEN Yang, TAN Yanping, CHENG Lei, WU Huaiyu. Path Planning for a Heterogeneous Aerial-Ground Robot System with Neighbourhood Constraints. ROBOT, 2017, 39(1): 1-7. DOI: 10.13973/j.cnki.robot.2017.0001.

摘要针对一类带邻域约束的空地异构机器人系统的路径规划问题，提出了一种利用混合整数凸优化模型进行求解的方法．异构机器人系统由一台空中飞行机器人与一台地面自主移动机器人构成．机器人系统的任务是按给定顺序访问已知的目标序列．由于空中机器人每次持续飞行时间受限，因此必须及时返回地面机器人以节省能量或补充能量．分别考虑了空中飞行机器人和地面移动机器人的最大运动速度，空中飞行机器人的最小充电时间、最大滞空时间，以及各目标位置的邻域等约束，以完成所有目标序列访问任务的总时间最短为代价，建立了相应的目标优化模型，从而将机器人系统的路径规划问题转化为混合整数凸优化问题．基于建立的凸优化模型，考虑飞行机器人起降过程的时间消耗，分析了无人机起降过程的敏捷性能对路径规划结果的影响．最后通过仿真实验验证了所提方法的可行性和有效性．

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关键词 ：异构机器人系统, 路径规划, 无人机, 空地合作, 混合整数规划

Abstract：For the path planning problem of a class of heterogeneous aerial-ground robot systems with neighborhood constraints, a convex optimization based on mixed integer programming is proposed. The heterogeneous robot system consists of an unmanned aerial vehicle (UAV) and an autonomous ground mobile vehicle. A sequence of targets, whose positions are known as prior knowledge, are expected to be accessed in a given order. Owing to its limited duration in the air, the unmanned aerial vehicle should return to the ground vehicle timely and land on the deck for its energy-saving and recharge. The maximum speeds of the both vehicles, the minimum time for charging and the maximum duration time in the air for the aerial robot, and the neighborhood of each target is carefully considered in the model. An objective optimization model is developed by minimizing the time cost spent on all the targets, and the path planning problem of the heterogeneous aerial-ground robot system is formulated as a mixed integer convex optimization problem. Considering the time consumption on takeoff or landing of the aerial robot, the influence of the UAV agility on path solutions is analyzed based on the proposed convex optimization model. Finally, the simulation results show the feasibility and efficiency of the proposed method.

Key words： heterogeneous vehicle system path planning unmanned aerial vehicle aerial-ground cooperation mixed integer programming

收稿日期: 2016-10-06 录用日期: 2016-12-11

TP13

基金资助:国家自然科学基金（61573263，61203331）；湖北省科技支撑计划（2015BAA018）

通讯作者: 陈洋，chenyag@wust.edu.cn E-mail: chenyag@wust.edu.cn

作者简介: 陈洋（1980-），男，博士，副教授．研究方向：移动机器人建模、控制与路径规划．
谭艳平（1992-），女，硕士生．研究方向：移动机器人路径规划．
程磊（1976-），男，博士，教授．研究方向：机器嗅觉与多机器人群集运动控制．

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0001 或 https://robot.sia.cn/CN/Y2017/V39/I1/1

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