A Cooperative Path Planning Algorithm for a Multiple Mobile Robot System in a Dynamic Environment
A Cooperative Path Planning Algorithm for a Multiple Mobile Robot System in a Dynamic Environment
复制标题
动态环境下多移动机器人系统协同路径规划算法
DOI：
10.5772/58832
复制
发表时间：
2014
影响因子：
2.3
通讯作者：
Kuo-chi Lin
中科院分区：
文献类型：
--
作者：
Wentao Yu;Jun Peng;Xiaoyong Zhang;Kuo-chi Lin
一种实用的多移动机器人路径规划方法需要同时处理真实机器人的无碰撞约束和运动学约束，而大多数路径规划方法都忽略了运动学约束。本文提出了一种实用的移动机器人在动态环境下的协同路径规划算法。首先，每个机器人使用一种分析方法来规划避障路径。在此基础上，提出了一种分布式优先策略来实现协同路径规划。在该方案中，每个机器人根据其在每个时刻的情况计算一个优先级值，以确定机器人的优先级。优先级较高的机器人可以忽略优先级较低的机器人，而优先级较低的机器人应该避免与优先级较高的机器人发生碰撞。为了最小化MMR的路径长度，添加了最小路径长度约束。优先级值还由将路径长度考虑在内的路径成本函数计算。与其他排序方法不同，该算法不耗时，适用于动态环境。仿真结果验证了该算法的有效性。
A practical path planning method for a multiple mobile robot system (MMRS) requires handling both the collision-free constraint and the kinematic constraint of real robots, the latter of which has to date been neglected by most path planning methods. In this paper, we present a practical cooperative path planning algorithm for MMRS in a dynamic environment. First, each robot uses an analytical method to plan an obstacle-avoidance path. Then, a distributed prioritized scheme is introduced to realize cooperative path planning. In the scheme, each robot calculates a priority value according to its situation at each instant in time, which will determine the robot's priority. Higher-priority robots can ignore lower-priority robots, whereas lower-priority robots should avoid collisions with higher-priority robots. To minimize the path length for MMRS, a least path length constraint is added. The priority value is also calculated by a path cost function that takes the path length into consideration. Unlike other priority methods, the algorithm proposed is not time consuming; therefore, it is suitable for dynamic environments. Simulation results are presented to verify the effectiveness of the proposed algorithm.