基于滚动窗口的多机器人协调规划算法与仿真

该文利用滚动规划策略 ,研究了多机器人系统的协调规划问题。文中提出的基于滚动窗口的多移动机器人协调规划方法充分利用各机器人实时测得的局部环境信息 ,以滚动方式进行在线规划 ,不仅大大减小了在线运算量 ,而且使系统具有很强鲁棒性。大量仿真结果都表明了该方法对多机器人系统协调规划的有效性。

Algorithm and Simulation of Multiple Robot System Based on Rolling Windows

Using the rolling optimization strategy, the problem of multiple robot coordination and planning is studied. The new method based on rolling windows makes full use of the real-time local environmental information detected by the robots and the planning is performed on-line in a rolling style. The calculation burden of the planning could be greatly reduced and the system is robust. Simulation results show that the rolling planning method is very effective to multiple robot coordination and planning.