[1]唐振民,赵春霞,杨静宇,等.基于动态规划思想的多机器人路径规划[J].南京理工大学学报(自然科学版),2003,(05):610-615.
　TangZhenmin ZhaoChunxia YangJingyu ZhangJin.Multi-robot Path Planning Based on Dynamic Programming[J].Journal of Nanjing University of Science and Technology,2003,(05):610-615.
点击复制

基于动态规划思想的多机器人路径规划()
分享到：

《南京理工大学学报》（自然科学版）[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2003年05期
页码:
610-615
栏目:
出版日期:
2003-10-30

文章信息/Info

Title:
Multi-robot Path Planning Based on Dynamic Programming
作者:
唐振民; 赵春霞; 杨静宇; 张进
南京理工大学计算机科学与技术系, 南京21
Author(s):
TangZhenmin ZhaoChunxia YangJingyu ZhangJin
Department of Computer Science and Technology,NUST,Nanjing 210094
关键词:
机器人;  路径规划;  动态规划
Keywords:
robots;  path planning;  dynamic prog ramming
分类号:
TP242
摘要:
该文围绕着一个机器人巡逻街道小区的仿真环境 ,讨论了多机器人路径规划中的路由优化问题。在解决这些问题的过程中 ,充分考虑到多机器人系统的动态特征 ,将运筹学中动态规划的思想和Dijkstra算法及其相关图论知识引入到机器人的路径规划求解中 ,不仅降低了问题的复杂度 ,并且得到了问题的解决方案。
Abstract:
The optimizat ion path planning w as discussed in this paper w ith a simulation model about robots pat rolling street district based on the technology of dynamic programming. Dijkstra algorithm of graph theory w as adopted to find the resolut ion of route optimizat ion and path collision according to the dynamic features of mult i-robot system, w hich can result in not only depressing the complex ity of the problem, but also f inding a new way to solve the prob lem.

参考文献/References:

1 欧青立, 何克忠. 室外智能移动机器人的发展及其关键技术研究[ J] . 机器人, 2000, 22( 6) : 519~ 526.
2 Buck S, Weber U, Beetz M, et al. Multi-robot path planning fo r dynamic env ironments: A case study[ A] . IEEE/ RSJ International Conference on I ntelligent Robots and Systems [ C] . Maui H I:IEEE, 2001. 1 245~ 1 250.
3 Bennewitz M, Burqard W, Thrun S. Optimizing schedules for prioritized path planning of multirobot systems[ A] . IEEE Internatio nal Conference on Robot ics and Automation [
C] . Seoul:IEEE, 2001. 271~ 276.
4 Cai Z, Peng Z. Cooperative coevolutionar y adaptive genetic algo rithm in path planning o f cooperative mult i-mobile robot systems [ J] . Journal of Intelligent and Robotic Systems: Theor y and Applications, 2002, 33( 1) : 61~ 71.
5 Wooldridge M J, Jennings N R. I ntelligent ag ents: Theory and pr actice[ J] . The Know ledge Engineer ing Rev iew , 1995, 10( 2) : 115~ 152.

相似文献/References:

[1]赵昀,陈庆伟,胡维礼,等.基于状态敏感度的移动机器人路径规划[J].南京理工大学学报(自然科学版),2012,36(01):7.
　ZHAO Yun,CHEN Qing-wei,HU Wei-li.Mobile Robot Path Planning Based on State Sensitivity[J].Journal of Nanjing University of Science and Technology,2012,36(05):7.
[2]赵娟平,高宪文,符秀辉.改进蚁群优化算法求解移动机器人路径规划问题[J].南京理工大学学报(自然科学版),2011,(05):637.
　ZHAO Juan-ping,GAO Xian-wen,FU Xiu-hui.Improved Ant Colony Optimization Algorithm for Solving Path Planning Problem of Mobile Robot[J].Journal of Nanjing University of Science and Technology,2011,(05):637.
[3]康亮,赵春霞,郭剑辉,等.基于模糊滚动RRT算法的移动机器人路径规划[J].南京理工大学学报(自然科学版),2010,(05):642.
　KANG Liang,ZHAO Chun-xia,GUO Jian-hui.Path Planning Based on Fuzzy Rolling Rapidly-exploring Random Tree for Mobile Robot[J].Journal of Nanjing University of Science and Technology,2010,(05):642.
[4]王义萍,陈庆伟,胡维礼,等.基底神经节的尖峰神经元网络模型及其在机器人中的应用[J].南京理工大学学报(自然科学版),2010,(06):717.
　WANG Yi-ping,CHEN Qing-wei,HU Wei-li.Spiking Neuron Network Model of Basal Ganglia and Its Application in Robot[J].Journal of Nanjing University of Science and Technology,2010,(05):717.
[5]赵春霞,唐振民,陆建峰,等.面向自主车辆的局部路径规划仿真系统[J].南京理工大学学报(自然科学版),2002,(06):570.
　ZhaoChunxia TangZhenmin LuJianfeng YangJingyu LiuChuancai.The Simulation System for the Local Path Planning of the Autonomous Vehicle[J].Journal of Nanjing University of Science and Technology,2002,(05):570.
[6]沈为民,王炎,赵言正,等.一种用于电站清扫的新型移动机器人的研制[J].南京理工大学学报(自然科学版),2001,(01):53.
　ShenWeimin WangYan ZhaoYanzheng PanPeilin.A Novel Mobile Robot for Power Plant Cleaning[J].Journal of Nanjing University of Science and Technology,2001,(05):53.
[7]郭毓,马勤弟,许春山,等.搬运机器人伺服系统的研究[J].南京理工大学学报(自然科学版),2001,(03):332.
　GuoYu MaQindi XuChunshan HuBin MaoJian.A Study on Servo System of Transport Robot[J].Journal of Nanjing University of Science and Technology,2001,(05):332.
[8]韩军,郝立.机器人关节空间的轨迹规划及仿真[J].南京理工大学学报(自然科学版),2000,(06):540.
　HanJun HaoLi.Trajectory Planning and Simulation of Robot in Joint Coordinate System[J].Journal of Nanjing University of Science and Technology,2000,(05):540.
[9]张恩洲,吴瑞珉.JZ-1 机器人轨迹插补及控制算法[J].南京理工大学学报(自然科学版),1998,(03):56.
　Zhang Enzhou Wu Ruimin.Path Interpolation and Control Algorithms for JZ-1 Robot[J].Journal of Nanjing University of Science and Technology,1998,(05):56.
[10]张恩洲,朱岩,韩军.机器人的逆变换及退化问题[J].南京理工大学学报(自然科学版),1997,(06):54.
　Zhang EnzhouZhu YanHan Jun.Inverse Transformation of Robot and Its Degeneration[J].Journal of Nanjing University of Science and Technology,1997,(05):54.
[11]唐振民,赵春霞,孙怀江,等.地面自主移动平台信息融合与路径规划系统[J].南京理工大学学报(自然科学版),2003,(01):6.
　TangZhenmin ZhaoChunxia SunHuaijiang LuJianfeng YangJingyu.The Information Fusion and Trejectory Planning System for Autonomous Ground Vehicle[J].Journal of Nanjing University of Science and Technology,2003,(05):6.

备注/Memo

备注/Memo:
国防科工委基础研究项目
唐振民( 1961— ) , 男, 1978 年3 月就读哈尔滨船舶工程学院, 教授, 博士生导师。主要研究方向: 智能机器人, 图像处理。E-mail: Tang. zm@ mail. njust. edu. cn
更新日期/Last Update: 2013-03-17