多移动机器人混合避障算法的编队策略

doi:10.16182/j.issn1004731x.joss.22-1249

系统仿真学报 ›› 2024, Vol. 36 ›› Issue (3): 726-734.doi: 10.16182/j.issn1004731x.joss.22-1249

多移动机器人混合避障算法的编队策略

刘福琳¹^,³(), 李庆鑫²^,³^,⁴()

^1.沈阳工业大学软件学院, 辽宁沈阳 110870
^2.中国科学院网络化控制系统重点实验室, 辽宁沈阳 110016
^3.中国科学院沈阳自动化研究所, 辽宁沈阳 110016
^4.中国科学院机器人与智能制造创新研究院, 辽宁沈阳 110169

收稿日期:2022-10-19 修回日期:2022-12-27 出版日期:2024-03-15 发布日期:2024-03-14
通讯作者: 李庆鑫 E-mail:fulinliuer@163.com;2533439838@qq.com
第一作者简介:刘福琳(1998-)，女，硕士生，研究方向为多移动机器人编队控制。E-mail： fulinliuer@163.com
基金资助:
国家重点研发计划(2019YFB1705104)

Formation Strategy of Hybrid Obstacle Avoidance Algorithm for Multiple Mobile Robots

Liu Fulin¹^,³(), Li Qingxin²^,³^,⁴()

^1.College of Software, Shenyang University of Technology, Shenyang 110870, China
^2.Key Laboratory of Networked Control Systems, Chinese Academy of Sciences, Shenyang 110016, China
^3.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
^4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China

Received:2022-10-19 Revised:2022-12-27 Online:2024-03-15 Published:2024-03-14
Contact: Li Qingxin E-mail:fulinliuer@163.com;2533439838@qq.com

摘要/Abstract

摘要：

针对多移动机器人系统在未知静态障碍物环境下的编队避障问题，提出了一种多移动机器人混合避障算法的编队策略，使多移动机器人系统在整个运行过程中保证系统内不发生碰撞，并且在未知静态障碍物环境中能最大程度地保持队形进行有效避障，以及能够在较短时间到达指定目标点。该编队策略基于领航跟随法和人工势场法，将系统内机器人划分为领航机器人及跟随机器人，并根据各自角色任务的差异，对其采用了不同改进方法的人工势场法进行避障，形成一种混合避障算法，其中针对领航机器人提出了LAPF （leader artificial potential field）避障算法，该算法改进了传统人工势场法的斥力函数，解决了传统人工势场法极易陷入局部极值困境的问题，并有效缩短了避障过程所用时间。为保证整个系统运行过程及避障行为之后能够恢复队形保持系统稳定性，该编队策略利用一致性模型控制机器人的速度，使领航机器人与跟随机器人的状态趋于一致，进而保持队形。仿真结果验证了LAPF算法及该多移动机器人混合避障算法编队策略的有效性。

关键词: 多移动机器人, 一致性编队, 领航跟随法, 人工势场法, 避障

Abstract:

For the obstacle avoidance problem of multiple mobile robots in the unknown static obstacle environment, this paper proposed a formation strategy of a hybrid obstacle avoidance algorithm for multiple mobile robots, ensuring that multiple mobile robots do not collide during operation, can maintain the formation to the maximum extent in the unknown static obstacle environment for effective obstacle avoidance, and can reach the designated target point in a short time. Based on the leader-follower method and artificial potential field (APF) method, the formation strategy divided the robots in the system into the leader robot and the follower robot. According to the differences in their roles and tasks, the APF method with different improved methods was adopted to avoid obstacles, forming a hybrid obstacle avoidance algorithm. The leader APF (LAPF) obstacle avoidance algorithm was proposed for the leader robot, which improved the repulsive force function of the traditional APF method, solved the problem that the traditional APF method is easy to fall into the local extrema dilemma, and effectively reduced the time for obstacle avoidance. In order to ensure that the formation can be restored, and the stability of the system can be maintained during system operation and after obstacle avoidance, the formation strategy used the consistency model to control the speed of the robot so that the states of the leader robot and the follower robot tend to be consistent, and then the formation can be maintained. Simulation results verify the effectiveness of the LAPF algorithm and the formation strategy of a hybrid obstacle avoidance algorithm for multiple mobile robots.

Key words: multiple mobile robots, consistent formation, leader-follower method, artificial potential field(APF), obstacle avoidance

中图分类号:

TP242

刘福琳,李庆鑫 . 多移动机器人混合避障算法的编队策略[J]. 系统仿真学报, 2024, 36(3): 726-734.

Liu Fulin,Li Qingxin . Formation Strategy of Hybrid Obstacle Avoidance Algorithm for Multiple Mobile Robots[J]. Journal of System Simulation, 2024, 36(3): 726-734.

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障碍物数量	成功率/%			平均运行时间/s
障碍物数量	法1	法2	法3	法1	法2	法3
0	100	100	100	0.062	0.062	0.062
5	85	82	88	0.063	0.089	0.084
9	80	83.5	95	0.063	0.086	0.082

组合算法	运行时间
一	97.81
二	116.83

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多移动机器人混合避障算法的编队策略

Formation Strategy of Hybrid Obstacle Avoidance Algorithm for Multiple Mobile Robots

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