动态修改路径的多机器人路径规划

晁永生; 孙文磊

doi:10.13433/j.cnki.1003-8728.20180055

动态修改路径的多机器人路径规划

doi: 10.13433/j.cnki.1003-8728.20180055

1.
新疆大学机械工程学院, 乌鲁木齐 830047

基金项目:

国家自然科学基金项目（51565058）资助

详细信息

作者简介:
晁永生(1976-),副教授,博士,研究方向为机器人路径规划、工艺优化,cys21st@163.com

计量
- 文章访问数: 596
- HTML全文浏览量: 39
- PDF下载量: 289
- 被引次数: 0
出版历程
- 收稿日期: 2017-09-20
- 刊出日期: 2018-10-05

Dynamic Path Modification for Multi-robot Path Planning

1.
School of Mechanic Engineering, Xinjiang University, Urumqi 830047, China

摘要

摘要: 为了实现在动态环境下多机器人无碰撞运动，提出一个动态修改路径的两阶段协调方法。首先，建立了动态路径修改的多机器人协调框架。在动态路径修改的第一阶段使用A*算法搜索每个机器人在静态障碍物下优化的无碰撞路径；第二阶段采用增量式A*算法搜索动态环境下的可行路径以提高搜索效率。针对发生的冲突，综合考虑规划时间和路径长度两个因素，建立的路径修改顺序模型，选择最优的修改路径。最后，实例验证了该方法的有效性。
- 多机器人 /
- 协调 /
- A*算法 /
- 动态修改路径 /
- 路径规划 /
- 优化
Abstract: In order to solve the multi-robot coordination problem in dynamic environments, we propose a two-stage decoupled dynamic path modification method, which can coordinate multiple robots in offline mode. First, we present a multi-robot coordination framework. In the first stage of coordination, the A* algorithm is used to explore the collision-free path with respect to known static obstacles. In the second stage, the incremental A* algorithm is employed to find the collision-free and optimized path with respect to dynamic obstacles. Considering the planning time and path length, an evaluation model for dynamic path modification sequence is established for conflicting robots. The conflicts between robots are resolved through altering robot paths. A case study indicates that the proposed method is effective.
- multiple robots /
- coordination /
- A* algorithm /
- dynamic path modification /
- path planning /
- optimization

HTML全文

参考文献(18)

[1]	Matariĉ M J, Sukhatme G S, Østergaard E H. Multi-robot task allocation in uncertain environments[J]. Autonomous Robots, 2003,14(2-3):255-263
[2]	晁永生,刘海江.白车身焊接机器人加工路径优化和仿真[J].中国机械工程,2010,21(4):442-445 Chao Y S, Liu H J. Welding robot path optimization and simulation for body in white[J]. China Mechanical Engineering, 2010,21(4):442-445(in Chinese)
[3]	Hatime H, Pendse R, Watkins J M. Comparative study of task allocation strategies in multirobot systems[J]. IEEE Sensors Journal, 2013,13(1):253-262
[4]	Stachniss C. Coordinated multi-robot exploration[M]. Stachniss C. Robotic Mapping and Exploration. Berlin, Heidelberg:Springer, 2009
[5]	Dias M B, Zlot R, Kalra N, et al. Market-based multirobot coordination:a survey and analysis[J]. Proceedings of the IEEE, 2006,94(7):1257-1270
[6]	Ferreira B M, Matos A C, Cruz N A, et al. A centralized approach to the coordination of marine robots[C]//Proceedings of the 11th Portuguese Conference on Automatic Control. Cham:Springer, 2015
[7]	Li M, Alvarez A, De Pellegrini F, et al. ROBOTRAK:a centralized real-time monitoring, control, and coordination system for robot swarms[C]//Proceedings of the 1st International Conference on Robot Communication and Coordination, ROBOCOMM 2007. Athens, Greece:IEEE, 2007
[8]	Marchese F M. A Multi-threads architecture for the motion coordination of a heterogeneous multi-robot system[C]//Proceedings of the 6th Mexican International Conference on Artificial Intelligence-Special Session. Aguascallentes, Mexico:IEEE, 2007:418-428
[9]	Liu C, Kroll A. A centralized multi-robot task allocation for industrial plant inspection by using A* and genetic algorithms[M]. Rutkowski L, Korytkowski M, Scherer R, et al. Artificial Intelligence and Soft Computing. Berlin, Heidelberg:Springer, 2012
[10]	陈洋,赵新刚,韩建达.移动机器人3维路径规划方法综述[J].机器人,2010,32(4):568-576 Chen Y, Zhao X G, Han J D. Review of 3D path planning methods for mobile robot[J]. Robot, 2010,32(4):568-576(in Chinese)
[11]	Colby M, Chung J J, Tumer K. Implicit adaptive multi-robot coordination in dynamic environments[C]//Proceedings of 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. Hamburg, Germany:IEEE, 2015
[12]	Feddema J T, Lewis C, Schoenwald D A. Decentralized control of cooperative robotic vehicles:theory and application[J]. IEEE Transactions on Robotics and Automation, 2002,18(5):852-864
[13]	Lacroix P, Polotski V, Cohen P. Decentralized control of cooperative multi-robot systems[J]. Integrated Computer-Aided Engineering, 1999,6(4):259-274
[14]	Ota J. Multi-agent robot systems as distributed autonomous systems[J]. Advanced Engineering Informatics, 2006,20(1):59-70
[15]	Settembre G P, Scerri P, Farinelli A, et al. A decentralized approach to cooperative situation assessment in multi-robot systems[C]//Proceedings of the 7th International Joint Conference on Autonomous Agents and Multiagent Systems. Estoril, Portugal:International Foundation for Autonomous Agents and Multiagent Systems, 2008:31-38
[16]	Liu S, Sun D, Zhu C G. A dynamic priority based path planning for cooperation of multiple mobile robots in formation forming[J]. Robotics and Computer-Integrated Manufacturing, 2014,30(6):589-596
[17]	Fraichard T. Trajectory planning in a dynamic workspace:a ‘state-time space’ approach[J]. Advanced Robotics, 1998,13(1):75-94
[18]	Koenig S, Likhachev M. Incremental A*[J]. Proceedings of the Neural Information Processing Systems, 2002,57(9):1539-1546