基于牛顿迭代法的移动机器人编队算法

Algorithm of Mobile Robots Formation Based on Iterative Newton Scheme

该文借鉴滚动规划的思想,探究了全局环境未知,障碍物分散条件下移动机器人系统的编队问题。文中提出的基于牛顿迭代法的移动机器人编队算法,将机器人系统的编队问题分解为各个机器人自主移向预定目标的过程,利用实时探得的局部环境信息,不断修整预定目标而完成编队。该算法计算量小,实时性强,不受编队形状所限。仿真结果表明了该算法的有效性。

Using the rolling planning strategy, the problem of mobile robots formation in globally unknown environment with distributed obstacles is studied. The algorithm of mobile robots formation based on iterative Newton scheme presented in the paper resolves the formation problem into the process of individual robot autonomous motion toward candidate object. The algorithm makes full use of the real-time local environment information detected by the robots and changes the candidate object on end until the completion of formation. The algorithm has low calculation burden and can react the changes simultaneously and doesn't be confined to the shape of formation. Finally, the simulation result shows that the algorithm is effective.