摘要
针对多移动机器人系统中路径规划全局最优与局部协调的兼容性需求,提出一种基于双层协调体系的路径规划方法。结合路径组亲和度评价提出改进的免疫协同进化算法并完成全局路径规划,提高了规划效率和全局路径质量;根据初始条件和全局路径信息,判断系统中各机器人可能出现碰撞的位置,提出基于优先级机制的动态窗口法在相应位置附近完成路径的局部协调;最终在全局最优路径基础上实现机器人的局部路径协调避碰。试验结果表明,该路径规划方法使机器人沿全局最优路径行驶时,仍能进行灵活有序的局部路径协调,有效提高了系统的路径规划性能。
For the compatibility requirements of global optimization and local coordination of path planning in multi-mobile robots system,a path planning method based on bilevel coordination system was developed.Firstly,the improved immune co-evolution algorithm was proposed based on the affinity evaluation of path group,and was used to complete the global path planning,which improved the efficiency of planning and the quality of global paths.Secondly,according to the initial conditions and global path information,the possible collision position of each robot in the system was determined,and the dynamic window approach based on priority mechanism was suggested to complete the local coordination of the path near the corresponding location.Finally,under the condition of global optimal paths,the local path coordination of the robots was realized and the collisions were avoided.The experimental results show that the path planning method can not only make the robots travel along the global optimal paths,but also coordinate the local paths flexibly and orderly.The path planning performance of the system is improved effectively.
作者
钟佩思
徐东方
李东民
梁中源
刘梅
陈修龙
ZHONG Pei-si;XU Dong-fang;LI Dong-min;LIANG Zhong-yuan;LIU Mei;CHEN Xiu-long(Advanced Manufacturing Technology Center,Shandong University of Science and Technology,Qingdao 266590,China;Department of Mechanical and Electrical Engineering,Shandong University of Science and Technology,Tai an 271000,China)
出处
《科学技术与工程》
北大核心
2020年第29期12000-12006,共7页
Science Technology and Engineering
基金
山东省重点研发计划(2018GGX106001)
山东省自然科学基金(ZR2017MEE066)
山东科技大学研究生科技创新项目(SDKDYC190219)。
关键词
多移动机器人
路径规划
双层协调体系
免疫协同进化算法
动态窗口法
multi-mobile robots
path planning
bilevel coordination system
immune co-evolution algorithm
dynamic window approach
