动态环境中的移动机器人避碰规划研究

本文研究环境中的冲突区域——即交叉路口中多个移动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移动机器人规划路径；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．同时为系统建立了一套交通规则，易于系统的规划，使系统中的机器人能安全快速地到达目标位置．由于动态环境的不确定性，规划周期性地执行．最后给出了仿真结果．

RESEARCH ON OBSTACLE AVOIDANCE PLANNING FOR MOBILE ROBOTS IN DYNMIC WORLD

This paper deals with coordination and obstacle (or collision) avoidance between mobile robots in conflict areas, that is, intersections. The planning approach both concentrated and distributed is adopted. Each mobile robot's path is planned according to the topological structure of the system; the distributed planning for motion characteristics of each robot is given using priority strategy in intersections. The intelligence of the whole system is improved by blending intelligence of the high and low levels. At the same time, a set of traffic rules is set up to make planning for the system easier and each robot in the system reachs the goal position of itself with safety as quickly as it can. In order to deal with the uncertainty introduced by the dynamic world, the planner operates periodically. At last, an emulation result is given.