基于元胞自动机的多机器人路径规划方法

Research on Multi-robot Path Planning Method Based on Cellular Automata Model

为将多个智能机器人组合为一个整体来完成更复杂的任务,提出一种基于元胞自动机(cellular automata,CA)模型的多机器人协作路径规划方法。通过构建CA模型实现机器鱼的聚类和控制,寻找最优策略和路径。通过设置合适的初始状态和演化规则,模拟多机器鱼之间协作顶球的整个过程。通过Matlab仿真和国际水中机器人大赛的2D仿真平台进行实验验证,并对未来的研究方向进行探讨。结果表明:该方法是可行的,具有较好的鲁棒性。

In order to combine multiple intelligent robots into a whole to complete more complex tasks,a multi robot collaborative path planning method based on cellular automata(CA)model is proposed here.The cellular automaton model is adopted to achieve the clustering and control of robotic fish,aiming to search for the best control strategies and moving paths.Moreover,with proper initial states and evolution rules,the whole process of ball topping collaborated by multiple robotic fishes is simulated.Then,the precision and the robustness of the proposed method is verified with the homemade Matlab codes,as well as the simulation platform of the International Aquatic Robot Competition.Finally,the future plan on this study is introduced and discussed.