一种多移动机器人避障的改进算法

为了使多机器人在有障碍物的环境中可靠地运行,针对多机器人的避障问题,融合沿墙行为的避障模式,构造出一类具有自适应特性l-ψ闭环控制律下的多机器人避障算法,以作为基于行为的控制策略的有益补充。仿真结果表明,该算法可以成功地解决机器人因融合参数不当而形成的避障"死锁"问题,使多机器人在有障碍物的环境下,在障碍物区能够顺利地通过障碍物,在离开障碍物后,快速恢复至稳定。

Improved Algorithm for Obstacle-avoidance of Multiple Mobile Robots

Robots need pass the obstacles during the movement to the target point in the real enviornment.To assure the reliable running of multiple mobile robots in environment with obstacle and aiming at multiple mobile robots' corresponding solution to obstacle-avoidance problem, an adaptive closed loop control algorithm integrating follow-wall mode is introduced.The strategy is affirmative supplement to behavior based control method.The simulation results show that the algorithm can solve the problem of obstacle-avoidance"deadlock"caused by the unproper parameters setup of amalgamation of the robot.The robot can pass the obstacles successfully and recover stability quickly after that.