| 多移动机器人实时最优运动规划 |
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| 引用本文： | 孙茂相,尹朝万.多移动机器人实时最优运动规划[J].控制与决策,1998,13(2):125-130. |
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| 作者姓名： | 孙茂相 尹朝万 |
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| 作者单位： | 沈阳工业大学电气工程系，中科院沈阳自动化研究所 |
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| 基金项目： | “863”计划,中科院机器人学开放研究实验室资助 |
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| 摘 要： | 研究多移动机器人的实时运动规划问题，提出了运动规划问题的体系结构，并将最优控制与智能决策相结合，建立实时专家系统，在其支持下，使机器人在时间—能量最优情况下完成规划策略。仿真结果表明该方法具有很强的实时性。
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| 关 键 词： | 移动机器人，实时专家系统，速度迁移算法 |
Real-time Optimal Motion Planning for Multiple Mobile Robots |
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| Sun Maoxiang,Zhou Ming,Wang Yanhong.Real-time Optimal Motion Planning for Multiple Mobile Robots[J].Control and Decision,1998,13(2):125-130. |
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| Authors: | Sun Maoxiang Zhou Ming Wang Yanhong |
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| Abstract: | This paper deals with real-time motion planning for multiple mobile robots in the working environment. An architecture for this problem is presented. On the basis of optimal control and intelligent decision, a real-time expert system is established. Under the support of the real-time expert system, motion planning can guarantee the time-energy optimality. The simulation results based on the scheme are presented to demonstrate its efficiency. |
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| Keywords: | multiple mobile robots real-time expert system dynamic variable velocity algorithm |
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