Multi-Robot Path Collaborative Planning Based on Time-Domain Cooperation-Potential Field A*Algorithm
In order to reduce the path length of multi-robot cooperative work and improve the path smoothness,a multi-robot co-operative planning method based on time-domain cooperation potential field A*algorithm is proposed.The grid model of robot working environment is established,and the problem of insufficient auxiliary information of traditional A* algorithm is ana-lyzed.In order to make full use of the prior information such as the position of obstacles and target points in the environment,the obstacle and target point information are introduced into the auxiliary information of A* algorithm based on potential field method,and a single robot path planning method based on potential field A*algorithm is proposed.Three-dimensional space-time map is used to instead two-dimensional plane map,so that the multi robot collision problem can be effectively judged,and formulate the collision avoidance strategy according to the collision type.It is verified that the path length and smoothness planned by potential field A*algorithm are better than traditional A*algorithm and ant colony algorithm in reference[11];In multi-robot cooperative path planning,the collision problem between robots can be effectively solved on the basis of planning the optimal path of each robot.The experimental results verify the effectiveness and superiority of time-domain cooperation potential field A*algorithm in multi robot cooperative path planning.
Multi-RobotCollaborative PlanningTime-Domain CooperationPotential Field A*Algorithm3-Dimension Time and Space Map
NETL
NSTL
万方数据
维普
