多机器人协同导航技术综述

Overview of Multi-robot Collaborative Navigation Technology

随着机器人技术的不断发展,多机器人系统凭借其诸多优势成为了当前科技研究的热点领域。对多机器人协同导航这一领域的研究进行了综合评述,并对未来发展趋势进行了展望。针对多机器人系统导航过程中涉及到的三个关键问题:协同定位、路径规划和任务分配问题,首先分析了多机器人系统的特点和面临的挑战;之后重点总结了多机器人定位的协同算法和技术、多机路径规划及冲突避免方法和并行多任务的分配方法;最后对多机器人协同导航的研究方向给出建议。综述表明,多机器人协同导航技术已经取得丰硕的成果,但在通信、系统结构和协调策略等基础领域仍需开展研究。另外,扩大多机器人协同控制规模,并将人这一要素深度融合到协同控制方法中,需要持续深入研究。

The research in the field of multi-robot collaborative navigation is reviewed and the future development trend is prospected.Aiming at the three key problems involved in the navigation process of multi-robot system:collaborative localization,path planning and task assignment,this paper firstly analyzes the characteristics and challenges of multi-robot system.Then,the collaborative algorithm and technology of multi-robot localization,multi-robot path planning,conflict avoidance method and parallel multi-task assignment method are summarized.Finally,the research direction of multi-robot cooperative navigation is suggested.The review shows that although the technology of the multirobot collaborative navigation has plenty of achievement,the basic reach about the communication,system frame and coordination strategy is still needed to be developed.In addition,it is necessary to expand the scale of multi-robot cooperative team and integrate the human factor into the cooperative control method.