邻域约束下空地异构机器人系统路径规划方法

发布时间：2018-08-16 15:27

【摘要】：针对一类带邻域约束的空地异构机器人系统的路径规划问题,提出了一种利用混合整数凸优化模型进行求解的方法.异构机器人系统由一台空中飞行机器人与一台地面自主移动机器人构成.机器人系统的任务是按给定顺序访问已知的目标序列.由于空中机器人每次持续飞行时间受限,因此必须及时返回地面机器人以节省能量或补充能量.分别考虑了空中飞行机器人和地面移动机器人的最大运动速度,空中飞行机器人的最小充电时间、最大滞空时间,以及各目标位置的邻域等约束,以完成所有目标序列访问任务的总时间最短为代价,建立了相应的目标优化模型,从而将机器人系统的路径规划问题转化为混合整数凸优化问题.基于建立的凸优化模型,考虑飞行机器人起降过程的时间消耗,分析了无人机起降过程的敏捷性能对路径规划结果的影响.最后通过仿真实验验证了所提方法的可行性和有效性.
[Abstract]:A hybrid integer convex optimization model is proposed to solve the path planning problem for a class of air-ground heterogeneous robot systems with neighborhood constraints. The heterogeneous robot system is composed of an aerial flying robot and a ground autonomous mobile robot. The task of a robot system is to access known target sequences in a given order. Because the flying time of the aerial robot is limited, it is necessary to return to the ground robot in time to save or replenish the energy. The maximum velocity of the flying robot and the mobile robot on the ground, the minimum charge time, the maximum lag time and the neighborhood of each target position are considered respectively. At the cost of the shortest total time to complete all target sequence access tasks, the corresponding target optimization model is established, and the path planning problem of the robot system is transformed into a mixed integer convex optimization problem. Based on the established convex optimization model, considering the time consumption of the takeoff and landing process of the flying robot, the influence of the agile performance of the takeoff and landing process of the UAV on the path planning results is analyzed. Finally, the feasibility and effectiveness of the proposed method are verified by simulation experiments.
【作者单位】：武汉科技大学信息科学与工程学院;冶金自动化与检测技术教育部工程研究中心;
【基金】：国家自然科学基金(61573263,61203331) 湖北省科技支撑计划(2015BAA018)
【分类号】：TP242

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