多机器人不确定协作任务的动态优化方法

DYNAMIC OPTIMIZATION FOR MULTI-ROBOT UNCERTAIN COOPERATIVE MISSION

针对一类可变目标的多机器人协作运动问题，提出动态优化的方案．在每一优化时刻根据当前目标状态及其变化规律，确定每个机器人的运动，得到该时刻概率意义上的最优运动．把系统整体路径规划的复杂问题分解为独立路径规划问题和分派问题分别求解，实现最快协作运动．并且将这种优化方案动态实施，以适应目标的不确定性．提出的方法还可推广到更一般的不确定协作任务中．

Focus on one kind of uncertains multi-robot cooperative mission, propose a dynamic optimization approach. At each optimal moment, get the transient mission condition, and the optimal cooperative mission. Decompose the entire systematic path-planning mission into two problems: path planning of individual robot and optimal path assignment problem. The fastest cooperative motion is realized. This method is proved by a simulation example of target movable formation, and it could be easily applied into other uncertain cooperative mission, thus having some degree of generality.