多机器人编队的运动规则精密仪器及机械专业论文.docxVIP

摘要关键词：多机器人编队机器人路径规划速度优化优先级策略 摘要 关键词：多机器人编队机器人路径规划速度优化优先级策略 Ⅱ AbstractABSTRACT Abstract ABSTRACT Over the past few decades，multirobot systems have been studied considerably,due to their wide applications in such fields as manufacturing，surveillance，and space exploration．In many applications，robots must form and maintain formations to accomplish such complex tasks as transportation of large awkward objects，mapping， search，and rescue．Motion planning，which is one of the most important issues in multirobot formations，is significantly affected by the geometrical constraints of the formations． This thesis aims to develop a set of new motion planning methodologies for multiple mobile robots in formation-forming and formation-maintaining tasks．Studies have been performed mainly in the following two categories． First，a decentralized multirobot motion planning framework is developed to solve the formation-forming problem in a dynamic environment、析m limited environment information．An improved RRT(Rapidly-exploring Random Trees)based path planner is designed to update the motion planning for each robot online．When robots enter the target formation，they may constrain each other：the robot first arriving at the desired position in the formation may block the other robots from entering the formation．This thesis refers to this situation as motion conflict in the formation-forming problem．Such conflict may cause disorder among the robots or even deadlock them when they enter the formation．To overcome this problem，a dynamic priority strategy is proposed to regulate the formation—forming action in proper order．Simulations and experiments were performed on a group of mobile robots．Experimental results demonstrate that the proposed new path planner Can effectively update motion planning for each robot online．By adding a dynamic priority strategy to the decentralized motion planning framework，the formation—forming goal can be achieved efficiently． Second，this thesis addresses t