| 带时间约束的多机器人协作规划研究 |
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| 引用本文： | 李双艳,张得志.带时间约束的多机器人协作规划研究[J].计算技术与自动化,2005,24(4):32-34. |
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| 作者姓名： | 李双艳 张得志 |
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| 作者单位： | 中南林学院工业学院,湖南,长沙,410004;中南大学交通运输学院,湖南,长沙,410075 |
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| 摘 要： | 通过对多机器人协调规划的研究，将协调任务的要求化为混合整数规划的不等式约束。设计出时间性能指标最优的费用函数，规划出各个机器人最优路径。然后，利用反馈控制器，将规划出满足完整性约束的路径转化为满足机器人运动学约束的轨迹。
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| 关 键 词： | 多机器人 协作规划 时间约束 |
| 文章编号： | 1003-6199（2005）04-0032-03 |
| 收稿时间： | 2005-03-10 |
| 修稿时间： | 2005年3月10日 |
Coordination and Programming with Timing Constraint of Multiple Mobile Robot |
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| LI Shuang-yan,ZHANG Dei-zhi.Coordination and Programming with Timing Constraint of Multiple Mobile Robot[J].Computing Technology and Automation,2005,24(4):32-34. |
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| Authors: | LI Shuang-yan ZHANG Dei-zhi |
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| Affiliation: | 1. College of Industry, Central South Forestry University, Changsha 410004, China; 2. Collgeg of Traffic and Transportation Engineerying, Central South University, Changsha 410075, China |
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| Abstract: | This paper study the problem of coordination and programming between multiple mobile robot. In order to work out cost function in terms of minimizing the mission completion time, the require of coordination task changed to the inequality constraint in mixed interger liear programming. Then, using a feedback controller, transforming path satifying holonomic constraint to trajectory satifying kinenaatic constraint. |
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| Keywords: | mobile robot coordination timing constraint |
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