基于多传感数据的多移动机器人协同避障算法

Cooperative Obstacle Avoidance Algorithm for Multi-mobile Robots Based on Multi-sensor Data

移动机器人按照规划轨迹运行时,机器人容易碰撞障碍物,避障路径运行时间较长。为提高避障成功率,提出基于多传感数据的多移动机器人协同避障算法。转换传感器坐标系至机器人坐标系,配准传感器信息时间和空间。融合多传感器量测数据,采用蚁群算法规划多机器人协同避障路径,执行最优避障路径。生成多个器人运行空间地形图,实现多机器人协同避障。实验结果表明,该方法提高了多机器人协同避障成功率,缩短了避障路径运行时间。

When the mobile robot runs according to the planned trajectory,the robot is easy to collide with obstacles,and the obstacle avoidance path runs for a long time.In order to improve the success rate of obstacle avoidance,a collaborative obstacle avoidance algorithm for multi-mobile robots based on multi-sensor data is proposed.Transform the sensor coordinate system to the robot coordinate system,and register the sensor information time and space.The multi-sensor measurement data is fused,and the ant colony algorithm is used to plan the multi-robot cooperative obstacle avoidance path and executes the optimal obstacle avoidance path.Multi-robot operating space terrain maps is generated to achieve multi-robot collaborative obstacle avoidance.The experimental results show that the method improves the success rate of multi-robot cooperative obstacle avoidance and shortens the running time of obstacle avoidance path.