| 基于速度障碍和行为动力学的动态路径规划 |
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| 引用本文： | 雷艳敏,朱齐丹,冯志彬. 基于速度障碍和行为动力学的动态路径规划[J]. 华中科技大学学报(自然科学版), 2011, 0(4): 15-19 |
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| 作者姓名： | 雷艳敏 朱齐丹 冯志彬 |
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| 作者单位： | 哈尔滨工程大学自动化学院;长春大学电子信息工程学院;空军航空大学飞行基础训练基地; |
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| 基金项目： | 国家“211工程”建设资助项目 |
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| 摘 要： | 针对基本行为动力学在解决多机器人动态路径规划中存在的问题,充分考虑运动障碍物和其他机器人的速度信息,利用速度障碍为机器人规划了避障和避碰区域.根据路径规划的要求,利用行为动力学设计了奔向目标行为、避障行为和避碰行为3个基本行为,并提出利用粒子群优化方法对基本行为进行融合.利用Matlab对所提出的算法进行仿真,结果表明利用速度障碍、行为动力学和粒子群相结合的方法可以实现多机器人系统的动态路径规划,且方法简单,路径光滑.
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| 关 键 词： | 多机器人系统 路径规划 行为动力学 速度障碍 粒子群 |
Dynamic path planning using velocity obstacles and behavior dynamics |
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| Lei Yanmin, Zhu Qidan Feng Zhibin. Dynamic path planning using velocity obstacles and behavior dynamics[J]. JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE, 2011, 0(4): 15-19 |
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| Authors: | Lei Yanmin Zhu Qidan Feng Zhibin |
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| Affiliation: | Lei Yanmin1,2 Zhu Qidan1 Feng Zhibin3(1 Department of Automation,Harbin Engineering University,Harbin 150001,China,2 Department of Electronic Information Engineering,Changchun University,Changchun 130022,3 Flight Basic Training Base,Airforce Aviation University,Changchun 130021,China) |
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| Abstract: | Aimed at the problem existing in behavior dynamics method to carry out the path planning of multi-robot systems,considering the velocity of the mobile obstacles and the other robots,the obstacle avoidance and collision avoidance region were confirmed by the velocity obstacle.On the basis of the request of path planning,the behavior of moving to goals,one of avoiding obstacles,and one of collision avoidance were devised through the behavior dynamics method.Behavior fusion was achieved by using particle swarm... |
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| Keywords: | multi-robot systems path planning behavior dynamics velocity obstacle particle swarm |
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