| 基于总体势减小的动态调度技术解决多机器人的路径规划 |
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| 引用本文： | 顾国昌,李亚波.基于总体势减小的动态调度技术解决多机器人的路径规划[J].机器人,2001,23(2):171-174. |
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| 作者姓名： | 顾国昌 李亚波 |
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| 作者单位： | 哈尔滨工程大学计算机系 |
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| 摘 要： | 本文提出了一种解决多机器人路径规划与协调问题的新方法：基于总体势减小的优
先级动态调度策略．文中引入了总体势的概念，机器人从起始点向目标点运动过程中，始终
沿着总体势减小的方向进行，逐步引导机器人导航任务的完成．
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| 关 键 词： | 多机器人 路径规划与协调 阻碍集 总体势 |
| 文章编号： | 1002-0446(2001)02-0171-05 |
| 修稿时间： | 2000年11月2日 |
A NEW APPROACH BASED ON SCHEDULING TECHNIQUE TO THE MULTI ROBOT PATH PLANNING AND COORDINATION PROBLEM |
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| GU Guo-chang,LI Ya-bo.A NEW APPROACH BASED ON SCHEDULING TECHNIQUE TO THE MULTI ROBOT PATH PLANNING AND COORDINATION PROBLEM[J].Robot,2001,23(2):171-174. |
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| Authors: | GU Guo-chang LI Ya-bo |
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| Abstract: | The paper presents a new approach, which is called dynamic priority scheduling based on total potential reduction, to solving the multi robot path planning and coordination problem. In this algorithm, the concept of total potential is introduced into this paper. Only if the motion of one robot will reduce the total potential, can the robot change its position through this feasible motion. Therefore, when robots are moving from their start points to goal points, the total potential is reduced gradually. The navigation tasks of multiple robots are accomplished in this way. |
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| Keywords: | multiple robots path planning and coordination blocked set total potential |
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