基于人工协调场的多移动机器人实时协调避碰规划

景兴建; 王越超; 谈大龙

引用本文:	景兴建, 王越超, 谈大龙.基于人工协调场的多移动机器人实时协调避碰规划[J].控制理论与应用,2004,21(5):757~764.[点击复制]
	JING Xing-jian; WANG Yue-chao; TAN Da-long.Artificial coordinating field based real-time coordinating collision-avoidance planning for multiple mobile robots[J].Control Theory and Technology,2004,21(5):757~764.[点击复制]

基于人工协调场的多移动机器人实时协调避碰规划

Artificial coordinating field based real-time coordinating collision-avoidance planning for multiple mobile robots

摘要点击 1830 全文点击 1361 投稿时间：2003-04-22

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DOI编号 10.7641/j.issn.1000-8152.2004.5.018

2004,21(5):757-764

中文关键词人工协调场动态不确定环境协调避碰多机器人

英文关键词 artificial coordinating fields dynamic uncertain environments coordinating collision avoidance multiple mobile robots

基金项目国家自然基金项目(60131160741; 60334010).

作者	单位
景兴建, 王越超, 谈大龙	中科院沈阳自动化所机器人学实验室,辽宁沈阳 110016 中国科学院研究生院,北京 100080

中文摘要

为克服传统人工势场在动态未知环境下机器人避碰规划中存在的缺陷,提出人工协调场法(ACF).将场函数与机器人的风险状态相结合,给出并讨论了人工协调场的基本设计.基于人工协调场,考虑机器人的运动约束,实现了多机器人之间以及机器人与环境间的实时协调避碰,提出了一个多移动机器人无死锁实时避碰规划算法.理论分析和仿真试验证明所提方法的有效性.

英文摘要

To overcome the drawbacks of the conventional artificial potential fields in motion planning of mobile robots for dynamic uncertain environments,an artificial coordinating field (ACF) is proposed.Definitions and basic designs of the ACFs were investigated with regard to the collision risk and motion constraints of mobile robots.Based on the ACFs,an effective algorithm without the "dead-lock" for coordinating collision avoidance of multiple mobile robots in dynamic uncertain environments was developed.The theorical analysis and simulations illustrated our results.