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针对一类带邻域约束的空地异构机器人系统的路径规划问题,提出了一种利用混合整数凸优化模型进行求解的方法.异构机器人系统由一台空中飞行机器人与一台地面自主移动机器人构成.机器人系统的任务是按给定顺序访问已知的目标序列.由于空中机器人每次持续飞行时间受限,因此必须及时返回地面机器人以节省能量或补充能量.分别考虑了空中飞行机器人和地面移动机器人的最大运动速度,空中飞行机器人的最小充电时间、最大滞空时间,以及各目标位置的邻域等约束,以完成所有目标序列访问任务的总时间最短为代价,建立了相应的目标优化模型,从而将机器人系统的路径规划问题转化为混合整数凸优化问题.基于建立的凸优化模型,考虑飞行机器人起降过程的时间消耗,分析了无人机起降过程的敏捷性能对路径规划结果的影响.最后通过仿真实验验证了所提方法的可行性和有效性.
Aiming at the problem of path planning for a class of space heterogeneous robotic system with neighborhood constraints, a hybrid integer convex optimization model is proposed to solve the problem.A heterogeneous robot system consists of an airborne robot and a ground autonomous mobile robot . The task of a robotic system is to access a known sequence of targets in a given order. Since each continuous flying time of an aerial robot is limited, the ground robot must be returned in time to save energy or to replenish its energy. Considering the difference between the flying robot and the ground The maximum moving speed of the mobile robot, the minimum charging time of the flying robot, the maximum time lag, and the neighborhood of each target position are also discussed. At the cost of completing the shortest total time of all the target sequence access tasks, a corresponding target optimization model , So that the path planning problem of the robot system is transformed into a mixed integer convex optimization problem.Based on the established convex optimization model, taking into account the time consumption of the flight robot taking off and landing process, Influence.Finally through the simulation experiment verified The feasibility and effectiveness of the method.