| 多机器人轨迹规划研究综述及发展趋势 |
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| 引用本文： | 牛启臣,张弓,张功学,徐征,吴月玉,侯至丞,杨文林,徐群华.多机器人轨迹规划研究综述及发展趋势[J].机床与液压,2021,49(12):184-189. |
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| 作者姓名： | 牛启臣 张弓 张功学 徐征 吴月玉 侯至丞 杨文林 徐群华 |
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| 作者单位： | 陕西科技大学机电工程学院;广州中国科学院先进技术研究所 |
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| 基金项目： | 国家重点研发计划（2018YFA0902903）；国家自然科学基金面上项目（62073092）；广东省自然科学基金项目（2021A1515012638）；广州市基础研究计划（202002030320） |
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| 摘 要： | 多机器人系统与单机器人相比，具有工作效率更高、灵活性更好等特点，受到广泛关注。轨迹规划决定了机器人末端执行器的作业效率和运动性能。多机器人系统在工作空间大范围重叠情况下，每个机器人的协同轨迹规划的计算量非常大。从基本轨迹规划、最优轨迹规划及深度学习等方面，详细分析和综述了多机器人轨迹规划的各类方法，并对该领域的技术发展趋势进行了分析和展望，指明未来工作的研究方向。
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| 关 键 词： | 多机器人 协同作业 轨迹规划 综述 |
Review and Development Trend of Multi robot Trajectory Planning |
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| NIU Qichen,ZHANG Gong,ZHANG Gongxue,XU Zheng,WU Yueyu,HOU Zhicheng,YANG Wenlin,XU Qunhua.Review and Development Trend of Multi robot Trajectory Planning[J].Machine Tool & Hydraulics,2021,49(12):184-189. |
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| Authors: | NIU Qichen ZHANG Gong ZHANG Gongxue XU Zheng WU Yueyu HOU Zhicheng YANG Wenlin XU Qunhua |
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| Abstract: | Compared with single robot, multi-robot system has the characteristics of higher working efficiency and better flexibility, which has received increasing attention. Trajectory planning determines the operating efficiency and motion performance of its end effector. The multi robot system has a large amount of calculation for the coordinated trajectory planning of each robot in the case of large scale overlapping of workspaces. Various methods of multi robot trajectory planning were analyzed and summarized in detail from the aspects of basic trajectory planning, optimal trajectory planning and deep learning, and the technology development trend in this field was analyzed and prospected which indicated the research direction of future work. |
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