动态环境下多移动机器人路径规划的一种新方法

A METHOD OF COLLISION AVOIDANCE PLANNING FOR MULTI-ROBOTS IN DYNAMIC ENVIRONMENT

  • 摘要: 本文提出一种多个移动机器人在动态环境下进行路径规划的新方法.基于栅格类的环境表示和障碍地图,协调同一工作环境中多移动机器人的运动状态,以避免相互之间发生碰撞.该方法的复杂性较低,具有很好的实时性能.结合机器人足球领域,进行了实验,验证了这个方法的正确性和有效性.

     

    Abstract: The paper proposes a new method of collision avoidance planning for multi-robots in dynamic environment where multiple obstacles are moving around. It realizes the collision avoidance in multi-robot system based on the grid-type environment representation and the obstacle map. The method has a low complexity and good real-time performance. Some experiments in robotic soccer domain prove the effectiveness and correctiveness of the method.

     

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