Motion planning of multiple mobile robots by a combination of learned visibility graphs and virtual impedance
Motion planning of multiple mobile robots by a combination of learned visibility graphs and virtual impedance
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通过结合学习的可见性图和虚拟阻抗来进行多个移动机器人的运动规划
DOI：
10.1163/156855396x00246
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
Jun Sasaki
中科院分区：
文献类型：
--
作者：
J. Ota;T. Arai;Yuji Yoshimura;N. Miyata;E. Yoshida;D. Kurabayashi;Jun Sasaki
本文提出了一种多移动机器人的运动规划算法。提出了一种具有两层“学习可见性图层（上层）”和“虚拟阻抗层（下层）”（势场规划方法之一）的分层架构。该系统具有以下特点：（1）适用于未知的动态环境，（2）适用于分布式多机器人系统，（3）能够产生足够的路径和运动。在上层，对环境的有效探索使得生成避开静态障碍物的次最短路径成为可能。在下层，可以通过虚拟阻抗对其他机器人等移动障碍物进行在线避让。仿真结果表明了该方法的有效性。
A motion planning algorithm for multiple mobile robots is proposed in this paper. A hierarchical architecture with two layers 'learned visibility graph layer (upper layer)' and 'virtual impedance layer (lower layer)' (one of the potential field planning method) is presented. This system has the following characteristics: (1) is applicable to unknown dynamic environments, (2) is applicable to distributed multiple robot systems and (3) is capable of adequate path generation and motion. At the upper layer, efficient exploration of environments makes it possible to generate sub-shortest paths that avoid static obstacles. At the lower layer, on-line avoidance can be made with virtual impedance against moving obstacles such as other robots. Simulation results show the validity of the proposed method.