能耗优化下移动机器人路径规划的变约束仿真平台设计

Research on a Multi-variable Constraints Simulation Platform for Path Planning of Mobile Robots under Energy Consumption Optimization

能耗优化下移动机器人路径规划面临移动机器人数量、作业路况、电源更换等多变化约束条件情形。基于MATLAB-App Designer开发工具,结合团队前期研究成果,设计具有交互界面的能耗优化下移动机器人路径规划变约束仿真平台。该平台根据变约束要求特性,改变具有障碍的不同规模地图、移动机器人数量、移动机器人起始及目标位置等,调用嵌入的不同智能算法,仿真生成移动机器人规划路径,实时显示能量消耗和路径长度等信息,为实际情形下移动机器人路径规划提供可靠的参考价值。

The mobile robot path planning under energy consumption optimization is faced with the case of multi-variable constraints,such as the number of mobile robots,operating road conditions,and power replacement.Based on the MATLAB-App Designer development tool and the team's previous research results,this paper designs a simulation platform with an interactive interface for variable constraints on the path planning of mobile robots under energy consumption optimization.Based on the characteristics of variable constraints requirements,this platform varies the different scale maps with obstacles,the number of mobile robots,and the starting and target locations of mobile robots,etc.,invokes different embedded intelligent algorithms to simulate and generate mobile robot planning paths,displays information such as energy consumption and path length in real time,which provides reliable reference values for mobile robot path planning in real situations.