基于总体势减小的动态调度技术解决多机器人的路径规划.pdfVIP

第 卷第 期 2B 2 机器人 ROBOT Vol.2B,No.2 年 月 2001 B arch,2001 文章编号: 1002-0446(2001)02-0171-05 基于总体势减小的动态调度技术解决多机器人的路径规划 顾国昌 李亚波 (哈尔滨工程大学计算机系 哈尔滨 150001) 摘 要 本文提出了一种解决多机器人路径规划与协调问题的新方法 基于总体势减小的优先级动态调度策: : 略.文中引入了总体势的概念 机器人从起始点向目标点运动过程中 始终沿着总体势减小的方向进行 逐步引导机, , , 器人导航任务的完成. 关键词 多机器人 路径规划与协调 阻碍集 总体势: ; ; ; 中图分类号: TP24 文献标识码: B A NEW APPR0ACH BASED 0N SCHEDULING TECHNIOUE T0 THE MULTI R0B0T PATH PLANNING- AND C00RDINATI0N PR0BLEM GU Guo chang LI Ya bo- - (Department of omputer and fnformatzon Sczences Har}zn Engzneerzng unzuerszty, 150001) Abstract The paper presentsa new approach which iscalled dynamic priority scheduling based on total potential: , reduction to solving the multi robot path planning and coordination problem In this algorithm the concept of to-, - . , tal potential is introduced into this paper. Only if the motion of one robot will reduce the total potential can the, robot change its position through this feasible motion Therefore when robots are moving from their start points. , to goal points the total potential is reduced gradually The navigation tas, . ks of multiple robots are accomplished in this way. Keywords multiple robots path planning and coordination blocked set total potential: , , , 1 引言(Introduction) 体势: n 无论是车水马龙的十字街头 还是繁杂纷忙的, P = P