多机器人运动规划任务中势场法的局部最小解

2015 16th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA) Pub Date : 2015-12-01 DOI:10.1109/STA.2015.7505223

Fethi Matoui, B. Boussaid, M. Abdelkrim

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引用次数: 23

摘要

本文提出了一种解决多机器人导航中常见的局部最小值问题的新方法。基于人工势场的多机器人路径规划是目前最流行的轨迹规划方法之一。然而，在某些时空坐标中，由所有力矩/力产生的所有势的代数和为零。在这种情况下，所有的机器人在工作区域停止，他们的速度也变为零。针对多机器人系统中的局部最小值问题，通过Matlab/Simulink仿真进行了验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Local minimum solution for the potential field method in multiple robot motion planning task

This work presents a new approach to solve the problem of local minimum which happens usually in the case of multiple robots navigation. The multi-robot path planning based on artificial potential field is among of the most popular method for trajectory planning. However, in some spatial-temporal coordinates, the algebraic sum of all the potentials generated by all the torques/forces is null. In such case, all the robots in the working area stopped and their speeds become null too. Purposely, this work solved the problem of local minimum in a multi-robot system which is validated by Matlab/Simulink simulation.

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2015 16th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)

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