多机器人路径规划与协同避碰研究-测试计量技术与仪器专业论文.docxVIP

万方数据 万方数据 Abstract With the rapid development of science and technology in todays world, robot technology has also made tremendous progress. Human beings have made fruitful achievements in the field of robots; meanwhile, robots have also gradually stepped into human beings life. The multi-robot system is currently a hot issue in the field of robots, since it has such evident advantages over single-robot system as broader application background, better robustness, higher efficiency, better compatibility, less resource consumption when completing certain tasks, and being easy to research and development. This makes multi-robot systems become a research direction with bright future in the field of robot research. Among the many research questions in multi-robot systems, path planning is one of the core issues. Robot is able to achieve self-control and complete complex tasks, which reflects multi-robot system’s high degree of automation and intelligence. Multi-robot path planning, with multi-robot system as its research object, aims to find a safe and optimal path starting from initial position to target position for every robot. In the process, it is necessary to ensure that no collisions occur between robot and robot, and between robots and obstacles at any time. Although there are many solutions to the problem currently, individual solution, with different efficiency facing different tasks, has both its advantages and disadvantages, and is not widely applied. This paper, in this case, with Pioneer3-DX as the test platform, designed the multi-robot path planning and coordinated anti-collision system based on double fuzzy logic. The main research contents are as follows: Firstly, this paper, on the basis of introducing research significance, makes an analysis of the concept of multi-robot systems, the system architecture of multi-robot systems, and the research status of multi-robot systems at home and abroad. After comparing the advantages and disadvantages of each ro