基于多行为融合的多移动机器人协同路径规划研究
发布时间：2018-12-17 02:10
【摘要】：多移动机器人系统是随着现代社会的发展而兴起的一项新兴机器人研究方向,它能够完成单个机器人无法完成的任务。路径规划是多移动机器人完成任务的前提。本文从研究单个移动机器人的路径规划到多移动机器人的编队控制以及一致性运动等进行了深入的研究。针对移动机器人路径规划和多移动机器人编队控制这两项内容,分别建立相应模型,提出相应优化算法,并对所提算法进行仿真验证,分析实验结果。移动机器人路径规划部分,对比了传统路径规划算法,分析了现有路径规划算法的优缺点。针对传统人工势场法对机器人路径规划的缺点,提出了一种结合机器人位置、速度、加速度及障碍物位置等信息的改进人工势场法,并且给出了几种解决局部最小的方法,改进人工势场法能够有效完成单移动机器人的路径规划,但路径规划用时较长,路径不够平滑;针对人工势场法自身的缺陷,改进一种多层Morphin搜索树算法,提出一种将改进人工势场法和多层Morphin搜索树算法相结合的混合算法,在人工势场法进行路径规划的同时,利用多层Morphin搜索树对附近障碍物进行搜索,保证整个机器人路径规划过程中路径的平滑性和完成路径规划的效率。仿真实验表明该算法的有效性。多移动机器人系统编队控制部分,分析传统多移动机器人的编队控制算法,比较其优缺点。分析多移动机器人系统的运动控制模型,并建立改进的多机器人编队中的机器人之间的势场函数、机器人与障碍物之间的势场函数;基于多移动机器人系统的运动控制模型以及改进的多机器人编队中两种势场函数,对机器人的编队形成进行了分析,改进的基于人工势场法的队形控制能够有效完成编队,但只能形成一种固定队形,不能随意变换队形。针对基于人工势场法的队形控制的缺点,引入虚拟领航者的概念,提出基于人工势场和虚拟领航者的多移动机器人系统控制,用数学方法证明所提算法的稳定性。仿真实验表明提出的基于人工势场和虚拟领航者的方法在队形形成、队形变换及多移动机器人避障环节都能够有效快速完成。
[Abstract]:With the development of modern society, multi-mobile robot system is an emerging research direction of robot. It can accomplish tasks that can not be accomplished by a single robot. Path planning is a prerequisite for multiple mobile robots to complete their tasks. In this paper, the path planning of a single mobile robot, the formation control of a multi-mobile robot and the consistent motion of a mobile robot are studied in depth. Aiming at the two aspects of mobile robot path planning and multi-mobile robot formation control, the corresponding models are established, the corresponding optimization algorithm is proposed, and the proposed algorithm is verified by simulation and the experimental results are analyzed. In the part of path planning of mobile robot, the traditional path planning algorithm is compared, and the advantages and disadvantages of the existing path planning algorithm are analyzed. Aiming at the disadvantage of traditional artificial potential field method for robot path planning, an improved artificial potential field method combining robot position, velocity, acceleration and obstacle position is proposed, and several methods to solve local minimum are given. The improved artificial potential field method can effectively complete the path planning of a single mobile robot, but the path planning takes a long time and the path is not smooth enough. In view of the defects of the artificial potential field method, a multi-layer Morphin search tree algorithm is improved, and a hybrid algorithm which combines the improved artificial potential field method and the multi-layer Morphin search tree algorithm is proposed. The artificial potential field method is used for path planning at the same time. The multi-layer Morphin search tree is used to search the nearby obstacles to ensure the smoothness of the path and the efficiency of the path planning in the whole robot path planning process. Simulation results show that the algorithm is effective. In the part of formation control of multi-mobile robot system, the formation control algorithm of traditional multi-mobile robot is analyzed, and its advantages and disadvantages are compared. The motion control model of the multi-mobile robot system is analyzed and the potential field function between the robots in the improved multi-robot formation and the potential field function between the robot and the obstacle is established. Based on the motion control model of multi-mobile robot system and the two potential field functions of the improved multi-robot formation, the formation of the robot is analyzed. The improved formation control based on the artificial potential field method can effectively complete the formation. But can only form one kind of fixed formation, cannot change the formation at will. Aiming at the disadvantage of formation control based on artificial potential field method, the concept of virtual navigator is introduced, and the multi-mobile robot system control based on artificial potential field and virtual navigator is proposed. The stability of the proposed algorithm is proved by mathematical method. The simulation results show that the proposed method based on artificial potential field and virtual navigator can be completed efficiently and quickly in formation transformation and obstacle avoidance of multi-mobile robot.
【学位授予单位】：安徽工程大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2383465
[Abstract]:With the development of modern society, multi-mobile robot system is an emerging research direction of robot. It can accomplish tasks that can not be accomplished by a single robot. Path planning is a prerequisite for multiple mobile robots to complete their tasks. In this paper, the path planning of a single mobile robot, the formation control of a multi-mobile robot and the consistent motion of a mobile robot are studied in depth. Aiming at the two aspects of mobile robot path planning and multi-mobile robot formation control, the corresponding models are established, the corresponding optimization algorithm is proposed, and the proposed algorithm is verified by simulation and the experimental results are analyzed. In the part of path planning of mobile robot, the traditional path planning algorithm is compared, and the advantages and disadvantages of the existing path planning algorithm are analyzed. Aiming at the disadvantage of traditional artificial potential field method for robot path planning, an improved artificial potential field method combining robot position, velocity, acceleration and obstacle position is proposed, and several methods to solve local minimum are given. The improved artificial potential field method can effectively complete the path planning of a single mobile robot, but the path planning takes a long time and the path is not smooth enough. In view of the defects of the artificial potential field method, a multi-layer Morphin search tree algorithm is improved, and a hybrid algorithm which combines the improved artificial potential field method and the multi-layer Morphin search tree algorithm is proposed. The artificial potential field method is used for path planning at the same time. The multi-layer Morphin search tree is used to search the nearby obstacles to ensure the smoothness of the path and the efficiency of the path planning in the whole robot path planning process. Simulation results show that the algorithm is effective. In the part of formation control of multi-mobile robot system, the formation control algorithm of traditional multi-mobile robot is analyzed, and its advantages and disadvantages are compared. The motion control model of the multi-mobile robot system is analyzed and the potential field function between the robots in the improved multi-robot formation and the potential field function between the robot and the obstacle is established. Based on the motion control model of multi-mobile robot system and the two potential field functions of the improved multi-robot formation, the formation of the robot is analyzed. The improved formation control based on the artificial potential field method can effectively complete the formation. But can only form one kind of fixed formation, cannot change the formation at will. Aiming at the disadvantage of formation control based on artificial potential field method, the concept of virtual navigator is introduced, and the multi-mobile robot system control based on artificial potential field and virtual navigator is proposed. The stability of the proposed algorithm is proved by mathematical method. The simulation results show that the proposed method based on artificial potential field and virtual navigator can be completed efficiently and quickly in formation transformation and obstacle avoidance of multi-mobile robot.
【学位授予单位】：安徽工程大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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