基于分散式的多机器人避碰协调控制

Decentralized Multi-robot Collision Avoidance Based on Coordinated Control

针对多机器人在路径规划时躲避其他机器人容易产生抖动问题,该文提出了一种分散式的多机器人之间碰撞协调机制,设计了一种协调碰撞的算法,该方法计算短时间范围内的无碰撞局部运动。基于机器人动力学约束安全和平滑的控制,该方法在基于速度障碍算法的概念上,扩展现实机器人的动力学约束,考虑环境的基于网格的地图表示,通过仿真实验证明了所提出的算法是有效的,可以使运动更加平滑。

For multiple robots in path planning in avoiding other robots prone to jitter,a decentralized collision coordination mechanism between multiple robots is proposed,and an algorithm for coordinating collisions is designed,which calculates collision-free local motion in a short time range.Based on the control of robot dynamics constraint safety and smoothness,the method is based on the concept of velocity obstacle algorithm on extending the dynamics constraint of realistic robots,considering the grid-based map representation of the environment,and the proposed algorithm is proved to be effective and can make the motion smoother through simulation experiments.