| 多机器人系统中的动态避碰规划 |
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| 引用本文： | 徐潼,唐振民.多机器人系统中的动态避碰规划[J].计算机工程,2003,29(17):79-81,104. |
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| 作者姓名： | 徐潼 唐振民 |
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| 作者单位： | 南京理工大学计算机系,南京,210094 |
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| 基金项目： | 江苏省青年科学基金资助项目（BJ2000014） |
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| 摘 要： | 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。
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| 关 键 词： | 多机器人 避碰 路径规划 优先级策略 运动特征规划 |
| 文章编号： | 1000-3428(2003)17-0079-03 |
Dynamic Planning of Obstacle Avoidance in Multiple Robots System |
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| XU Tong,TANG Zhenmin.Dynamic Planning of Obstacle Avoidance in Multiple Robots System[J].Computer Engineering,2003,29(17):79-81,104. |
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| Authors: | XU Tong TANG Zhenmin |
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| Abstract: | 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. |
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| Keywords: | Multiple robots Obstacle avoidance Path planning Priority strategy Motion character planning |
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