不规则障碍物的避障路径规划.pdf

Vo1. 44 No. 9 第 44 卷第9 期 计算机科学 2017 年 9 月 COMPUTER SCIENCE Sep.2017 不规则障碍物的避障路径规划 贾春雪罗琦龚杨杨 (南京信息工程大学信息与控制学院 南京 210044) (江苏省气象能源利用与控制工程技术研究中心 南京 210044) (江苏省大气环境与装备技术协同创新中心 南京 210044) 摘 要 传统的多智能体避障算法在考虑障碍物形状时存在路径冗余、能耗高等现象，不具备普适性。为此，首先采 用自动识别凸形化的方式对不规则障碍物进行形状规则化的转变;其次，受子目标思想的启发，将智能体行走的路径 转化成规则化后障碍物的多个登陆点珞径的叠加，从而保证每段路径的最优化，再选取全局最优珞径;最后，利用 MATLAB进行仿真，对比与分析了另外两种算法执行的结果，验证了算法的可行性和有效性。 关键词 不规则，路径规划，自动识别凸形化，登陆点 中固法分类号 TP242.6 文献标识码 A DOI 10. 11896/j. issn. 1002-137X. 2017. 09. 054 Obstacle Avoidance Path Planning for Irregular Obstacles jIA Chun-xue LUO Qi GONG Yang-yang (College of Inforrnation and Control ,Nanjing University of Inforrnation Science . Technology ,Nanjing Z10044 ,China) (Jiangsu Engineering Research Center on Meteorological Energy Using and Control ,Nanjing Z10044 ,China) (Collaborative Innovation Center of Atmospheric Environment and Equipment Technology ,Nanjing 210044 ,China) Abstract The phenomenon of path redundancy and high energy consumption exist in the traditional multi-agent obsta cle avoidance algorithms when the shape of the obstacle is considered ,and the algorithms are not universal. Therefore , firstly ,the method of automatic recognition convexity was defined to transform the obstacle from irregular to rule. Se condly ,inspired by the idea of sub-target ,the path of the agent was transformed into the superposition of multiple lan ding points of the obstacle after being rul吐， so as to ensure the optimization of each path , and then selected the global