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针对基本行为动力学在解决多机器人动态路径规划中存在的问题,充分考虑运动障碍物和其他机器人的速度信息,利用速度障碍为机器人规划了避障和避碰区域.根据路径规划的要求,利用行为动力学设计了奔向目标行为、避障行为和避碰行为3个基本行为,并提出利用粒子群优化方法对基本行为进行融合.利用Matlab对所提出的算法进行仿真,结果表明利用速度障碍、行为动力学和粒子群相结合的方法可以实现多机器人系统的动态路径规划,且方法简单,路径光滑.
According to the basic behavioral dynamics to solve the problems existing in the dynamic path planning of multi-robot, the obstacle avoidance and collision avoidance area are planned for the robot by taking full consideration of the velocity information of moving obstacles and other robots.According to the requirements of path planning, Behavioral dynamics has designed three basic behaviors: goal behavior, obstacle avoidance behavior and collision avoidance behavior, and proposed the use of particle swarm optimization to integrate the basic behavior.The simulation of the proposed algorithm using Matlab shows that the use of speed barriers , The combination of behavioral dynamics and particle swarm optimization can realize the dynamic path planning of multi-robot system, and the method is simple and the path is smooth.