摘要
在移动多机器人系统避障控制优化过程中,两机器人避障问题是多智能体机器人高速避障的基础。为提高两机避障的效率,提出了一种基于生存理论思想的两个机器人相互避障方法。生存理论方法先检测两机器人是否达到危险条件,一旦到达危险避障条件两机器人便进行通讯信息,根据生存理论思想给出控制量的安全区域;最后对安全区域中控制量进行优化,得出双方都满意的最优解。两机根据最优解进行高速避障控制。通过大量的仿真表明,提出的生存理论方法可以有效地解决多种两体机器人的避障优化问题。
The mobile robot system is widely used and the obstacle avoidance problem for two robots is the basis of the high - speed obstacle avoidance control for multi - agents. In order to improve the efficiency of collision of two robots, we presented a high speed obstacle avoidance approach based on the viability theory. Firstly, the method detected whether the two robots reach the dangerous conditions. If the two robots reach the conditions, the two robots communicate information with each other. According to the viability theory, the safe area of the control can be obtained. The optimization method was applied to the safe area to get the best solution. The two robots can avoid each other in high speed according to the optimization control. The simulation results show that our method can efficiently solve various high speed obstacle avoidance control for two robots.
出处
《计算机仿真》
CSCD
北大核心
2015年第12期318-321,共4页
Computer Simulation
关键词
两机避障
生存理论
最优化
Avoidance control for two robots
Viability theory
Optimizatio
