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本文采用集中预规划方法 ,通过调整机器人的运动速度实现多机器人避碰 ,所提算法的基本思想为 :将机器人的运动路径分段 ,然后按避碰要求对机器人通过各段的时间进行约束 ,从而将避碰问题转化为高维线性空间的优化问题 ,并进一步将其转化为线性方程的求解 ,使问题具有明确的解析解 .由于该方法的复杂度较高 ,在实现过程中采用了多种方法降低复杂度 ,简化计算 .本文给出了该算法的基本思路 ,有关定理及证明 ,算法的化简方法 ,最后给出了实验结果及分析 .
In this paper, a centralized pre-planning method is adopted to achieve multi-robot collision avoidance by adjusting the movement speed of the robot. The basic idea of the proposed algorithm is as follows: segmenting the robot’s motion path and then restraining the robot from passing through each segment according to the avoidance requirements, So the problem of collision avoidance can be transformed into the optimization problem of high-dimensional linear space and further transformed into the solution of linear equation, so that the problem has a clear analytic solution.Because of the complexity of this method, more This method reduces the complexity and simplifies the calculation.This paper gives the basic idea of the algorithm, the related theorems and proofs, the simplification of the algorithm, and finally gives the experimental results and analysis.