| 唐铭伟， 宋栓军.多移动机器人3阶段解耦路径规划[J].轻工机械,2021,39(2):62-66 |
| 多移动机器人3阶段解耦路径规划 |
| Three Stage Decoupling Path Planning Method for Multiple Mobile Robots |
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| DOI：10.3969/j.issn.1005 2895.2021.02.011 |
| 中文关键词: 机器人集群 路径冲突 路径规划 MATLAB仿真 蚁群算法 |
| 英文关键词:robot cluster path conflict path planning MATLAB simulation ant colony algorithm |
| 基金项目:国家自然科学基金青年科学基金(61701384)。 |
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| 摘要点击次数: 1120 |
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| 中文摘要: |
| 针对多移动机器人集群在路径决策时任务执行时间过长、容易陷入死锁等问题，课题组提出了一种3阶段解耦路径规划方法。利用栅格法建立二维环境模型，首先以传统蚁群算法为基础，引入参数自适应机制和路径指引函数，提高算法的收敛速度；其次将多机器人集群路径规划分为3个阶段，提前预判出冲突路段，减少机器人的等待时间和绕行距离；最后利用MATLAB软件进行仿真实验。仿真结果表明：使用改进后的蚁群算法进行路径规划最优路径长度减少了5.5%，算法的收敛速度提升了近50%；在不同的栅格环境下，可以有效地预测和消解多机器人间的冲突。该研究为多机器人的路径规划提供了一种新的方法。 |
| 英文摘要: |
| A three stage decoupling path planning method was proposed to solve the problems of long task execution time and deadlock in multi mobile robot cluster. Two dimensional environment model was established by grid method. Firstly, based on the traditional ant colony algorithm, the parameter adaptive mechanism and the path guide function were introduced to improve the convergence speed of the algorithm; secondly, the multi robot cluster path planning was divided into three stages to predict the conflict section in advance and reduce the waiting and detour time of the robot. Finally, the simulation experiment was carried out by MATLAB software. The results show that the optimal path length is reduced by 5.5% and the convergence speed of the algorithm is increased by nearly 50% by using the improved ant colony algorithm for path planning. In different grid environments, the conflict between multi robots can be effectively predicted and resolved, which provides a new idea and method for multi robot path planning. |
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