Mobile Robots Path Planning Using the Overall Conflict Resolution and Time Baseline Coordination
Mobile Robots Path Planning Using the Overall Conflict Resolution and Time Baseline Coordination
复制标题
使用整体冲突解决和时间基线协调的移动机器人路径规划
DOI：
10.1155/2014/902587
复制
发表时间：
2014-01-01
影响因子：
--
通讯作者：
Zhang, Jing
中科院分区：
文献类型：
--
作者：
Ma, Yong;Wang, Hongwei;Zhang, Jing
针对时变环境下的路径规划问题，提出了基于全局冲突消解思想和时间基线协调算法的路径规划方法。所介绍的路径规划算法的基本任务是实现自动生成的最短路径从定义的起始位姿到他们的结束位姿与考虑慷慨的约束多个移动的机器人。在此基础上，通过使用整体冲突解决方案，在基于多项式的路径中，我们考虑了所有的约束，包括平滑度，运动边界，运动学约束，避障，以及机器人之间的安全约束。提出了时间基线协调算法来处理上述问题。最重要的优点是，我们的方法可以节省很多时间。数值仿真验证了该方法的有效性。
This paper aims at resolving the path planning problem in a time-varying environment based on the idea of overall conflict resolution and the algorithm of time baseline coordination. The basic task of the introduced path planning algorithms is to fulfill the automatic generation of the shortest paths from the defined start poses to their end poses with consideration of generous constraints for multiple mobile robots. Building on this, by using the overall conflict resolution, within the polynomial based paths, we take into account all the constraints including smoothness, motion boundary, kinematics constraints, obstacle avoidance, and safety constraints among robots together. And time baseline coordination algorithm is proposed to process the above formulated problem. The foremost strong point is that much time can be saved with our approach. Numerical simulations verify the effectiveness of our approach.