【摘要】 针对移动机器人的最速编队问题 ,结合路径规划和任务分解 ,提出一种分派问题的新解法和时间最优的编队策略。该策略充分考虑了障碍物环境约束和各机器人运动时的相互影响 ,通过将系统整体路径规划的复杂问题分解为独立路径规划问题和冲突协调问题来分别求解 ,降低了计算的复杂性 ,并能实现最快编队更多还原

【Abstract】 The rapid formation problem of the mobile robots is studied. A kind of time optimal formation strategy is proposed, which is based on path planning and task decomposition as well as an effective algorithm for assignment problem. The strategy decomposes the entire systematic path planning mission into two problems: Path planning of individual robot and conflict coordination among the multiple robots. This strategy decreases the compute complexity and makes the formation rapidly. Simulation results show the effectiveness of the strategy. The proposed strategy is applicable to other general multi robots cooperative missions.更多还原