邻域约束下空地异构机器人系统路径规划方法

Path Planning for a Heterogeneous Aerial-Ground Robot System with Neighbourhood Constraints

针对一类带邻域约束的空地异构机器人系统的路径规划问题,提出了一种利用混合整数凸优化模型进行求解的方法.异构机器人系统由一台空中飞行机器人与一台地面自主移动机器人构成.机器人系统的任务是按给定顺序访问已知的目标序列.由于空中机器人每次持续飞行时间受限,因此必须及时返回地面机器人以节省能量或补充能量.分别考虑了空中飞行机器人和地面移动机器人的最大运动速度,空中飞行机器人的最小充电时间、最大滞空时间,以及各目标位置的邻域等约束,以完成所有目标序列访问任务的总时间最短为代价,建立了相应的目标优化模型,从而将机器人系统的路径规划问题转化为混合整数凸优化问题.基于建立的凸优化模型,考虑飞行机器人起降过程的时间消耗,分析了无人机起降过程的敏捷性能对路径规划结果的影响.最后通过仿真实验验证了所提方法的可行性和有效性.

For the path planning problem of a class of heterogeneous aerial-ground robot systems with neighborhood constraints, a convex optimization based on mixed integer programming is proposed. The heterogeneous robot system consists of an unmanned aerial vehicle (UAV) and an autonomous ground mobile vehicle. A sequence of targets, whose positions are known as prior knowledge, are expected to be accessed in a given order. Owing to its limited duration in the air, the unmanned aerial vehicle should return to the ground vehicle timely and land on the deck for its energy-saving and recharge. The maximum speeds of the both vehicles, the minimum time for charging and the maximum duration time in the air for the aerial robot, and the neighborhood of each target is carefully considered in the model. An objective optimization model is developed by minimizing the time cost spent on all the targets, and the path planning problem of the heterogeneous aerialground robot system is formulated as a mixed integer convex optimization problem. Considering the time consumption on takeoff or landing of the aerial robot, the influence of the UAV agility on path solutions is analyzed based on the proposed convex optimization model. Finally, the simulation results show the feasibility and efficiency of the proposed method. © 2017, Science Press. All right reserved.