基于子队形划分的群机器人队形避障策略-工程学研究-CSCIED科技核心评价数据库-手机版

基于子队形划分的群机器人队形避障策略

Obstacle avoidance strategy for robotic formation based on sub-formation division

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DOI	10.12208/j.jer.20250008
刊名	工程学研究 Journal of Engineering Research
年，卷(期)	2025, 4(1)
作者	路月昊, 徐望宝,
作者单位	辽宁科技大学电子与信息工程学院辽宁鞍山
摘要	群机器人队形在执行任务时，不可避免地会遇到活动空间受到限制的环境，如狭长的走廊、隧道、楼道等场景。针对活动空间受限环境中的群机器人队形的避障问题，本文提出了一种基于子队形划分的避障策略。在该策略中，队形中有正式节点的机器人距离障碍较远时会依据吸引线段式主-从队形图确定leader并跟随leader运动。当有正式节点机器人距离障碍较近时则通过判断自身和leader到障碍物的距离来决策是否需要离队。如果需要离队，则以该机器人为根的子队形成为一个离队子队形。离队子队形中的领队在得到一个临时目标点后，就向该目标点移动以带领子队形避开障碍。该策略还设计了一种新的冲突消解算法，以化解机器人之间的冲突。最后，为了验证所提策略的有效性，我们进行了不同队形的仿真实验。实验结果验证，当面临活动空间受限的情况时，该策略可以使群机器人队形安全、有序避障。
Abstract	When performing tasks, swarm robot formations will inevitably encounter environments with limited activity space, such as narrow corridors, tunnels, corridors and other scenarios. In order to solve the obstacle avoidance problem of swarm robot formation in the environment with limited activity space, this paper proposes an obstacle avoidance strategy based on sub-formation division. In this strategy, when the robot with a formal node in the formation is far away from the obstacle, the leader will be determined according to the attraction line segment master-slave formation diagram and follow the leader's movement. When there is a formal node, the robot is close to the obstacle, and it decides whether it needs to leave the team by judging the distance between itself and the leader to the obstacle. If there is a need to leave the team, the sub-formation based on the robot becomes an out-of-team sub-formation. After receiving a temporary target point, the leader in the departing sub-formation moves towards that target point to lead the sub-formation to avoid obstacles. The strategy also designs a new conflict resolution algorithm to resolve conflicts between robots. Finally, in order to verify the effectiveness of the proposed strategy, we carry out simulation experiments with different formations. Experimental results verify that when faced with limited activity space, this strategy can make the swarm robot formation safe and orderly obstacle avoidance.
关键词	子队形划分；队形避障；群机器人队形控制
KeyWord	Sub-formation division; Formation obstacle avoidance; Swarm robot formation control
基金项目
页码	59-69

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引用本文

路月昊, 徐望宝. 基于子队形划分的群机器人队形避障策略 [J]. 工程学研究. 2025; 4; (1). 59 - 69.

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