CAJ | 학술논문

针对目前多机器人避碰算法存在的计算复杂、缺乏普适性等的局限性,以传统人工势场法为基础,将协商和意愿引入人工势场范畴,提出了多机器人系统运动规划的广义势场算法.该算法以物理空间障碍为基础构造排斥势场,以意愿为基础构造吸引势场,并通过排斥势场与吸引势场的拓扑积构成人工势场.在人工势场中,通过对势场中微团运动趋势的求解就可得出所需的路径规划.实验证明,该算法不仅具有人工势场法系统模型构造简单、能够进行最优路径规划的优势,而且在系统运行过程中有效地避免了系统死锁的发生.
침대목전다궤기인피팽산법존재적계산복잡、결핍보괄성등적국한성,이전통인공세장법위기출,장협상화의원인입인공세장범주,제출료다궤기인계통운동규화적엄의세장산법.해산법이물리공간장애위기출구조배척세장,이의원위기출구조흡인세장,병통과배척세장여흡인세장적탁복적구성인공세장.재인공세장중,통과대세장중미단운동추세적구해취가득출소수적로경규화.실험증명,해산법불부구유인공세장법계통모형구조간단、능구진행최우로경규화적우세,이차재계통운행과정중유효지피면료계통사쇄적발생.
As the existing multi-robot collision avoidance algorithm is of high computational complexity and poor applicability, a new algorithm based on the generalized potential field and the traditional artificial potential field-based algorithm, which takes into consideration the consult and desire of the robot, is proposed for the motion planning of multi-robot system. In this algorithm, a repellence potential field is built based on the obstacles in the physical space, a gravitation potential field is built based on the desire, and a generalized artificial potential field is built by the topological product of the repellence and the gravitation potential fields. By solving the motion trend of the mini-cells in the established artificial potential field, a road planning can be successfully implemented. Experimental results indicate that, as compared with the traditional artificial potential field-based algorithm, the proposed algorithm is also simple in structure and is superior in terms of optimal path planning and mobile collision avoidance.