多机器人系统中的动态避碰规划

Dynamic Planning of Obstacle Avoidance in Multiple Robots System

研究冲突区域中多机器人间的协调和避碰问题。采用集中－分布相结合的规划方法，根据系统的拓扑结构为每个机器人规划路径，在冲突区域内使用优先级策略对机器人的运动特征进行分布式规划。通过上下层智能的融合，提高整个系统的智能。

This paper deals with the cordination and obstacle avoidance among multiple robots in conflict areas. The planning approach both concentrated and distributed is adopted. Each robot's path is planned according to the topological structure of the system; the distributed planning of motion character of each robot is given using priority strategy in intersections. The intelligence of the whole system is improved by integrating intelligence of the high and low level.