Planning of Conflict-Free Motion for Multiple Robots in Structured Environment
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摘要: 对同一结构环境中从事独立任务的多移动机器人的无冲突运动规划进行了系统的研究,提出了一种实时的多移动机器人无冲突运动规划方法——基于优先权的规则法PBR(Priority Based Rules Method).该方法综合了规则法和优先权法的优点,不仅可以采用规则实时地避免机器人与其他物体之间的碰撞和冲突,而且可以根据冲突机器人间优先权的不同在线地解决那些不可避免的冲突.PBR可以提高机器人运动的鲁棒性和执行任务的效率.Abstract: A real-time conflict-free motion planning method, i.e. priority based rules method, was proposed for multiple mobile robots conducting individual tasks in one structured environment. By taking the advantages of rules method and priority method, the present method can not only make robots avoid collisions and conflicts with other objects in real time, but also resolve the inevitable conflicts on line by virtue of the priority of these robots. The method can make the motions of multiple robots more robust and time-saving.
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