| 引用本文: | 甘亚辉,戴先中.基于遗传算法的多机器人系统最优轨迹规划[J].控制理论与应用,2010,27(9):1245~1252.[点击复制] |
| GAN Ya-hui,DAI Xian-zhong.Optimal trajectory-planning based on genetic algorithm for multi-robot system[J].Control Theory and Technology,2010,27(9):1245~1252.[点击复制] |
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| 基于遗传算法的多机器人系统最优轨迹规划 |
| Optimal trajectory-planning based on genetic algorithm for multi-robot system |
| 摘要点击 2918 全文点击 1494 投稿时间：2009-09-04 修订日期：2009-11-11 |
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| DOI编号 10.7641/j.issn.1000-8152.2010.9.CCTA091133 |
| 2010,27(9):1245-1252 |
| 中文关键词 多机器人系统 轨迹规划 遗传算法 最优轨迹 |
| 英文关键词 multi-robot system trajectory-planning genetic algorithm optimal trajectory |
| 基金项目 |
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| 中文摘要 |
| 针对关节型多机器人系统在静态环境下的点到点的轨迹规划问题, 提出了一种基于遗传算法的最优轨迹规划策略. 采用遗传算法在综合考虑各机器人沿轨迹运动的安全性、运动代价以及运动学约束的基础上为单个机器人规划最优的运动轨迹, 并通过协调各机器人沿预定轨迹运行的时间避免机器人之间碰撞的发生. 针对含有3个二自由度平面关节型机器人的多机器人系统进行了仿真实验, 实验结果验证了该方法的有效性. |
| 英文摘要 |
| To plan the point-to-point trajectories for a multi-robot system working in a static environment, we present a genetic-algorithm-based planning method. Adopting the genetic algorithm, we plan the optimal trajectory for each articulated robot based on the comprehensive consideration of the motion-cost and kinematic constraints on the robots. Collisions between robots are avoided by coordinating the starting time for each trajectory. Simulation experiment is carried out for a multi-robot system which includes three 2-DOF articulated robots. The experiment result shows the effectiveness of the proposed method. |