A Trajectory Generation Method for Multiple Robots Constrained by Flexible Ropes
A multi-robot and trajectory generation technology, applied in the direction of instruments, mechanical equipment, combustion engines, etc., can solve the problems of reducing the success rate of optimization and non-optimized algorithms falling into local minimum, so as to reduce energy consumption and facilitate the cost of obstacle avoidance Calculation, Simplification, Effects of Optimization Complexity
Active Publication Date: 2022-07-05
NORTHWESTERN POLYTECHNICAL UNIV
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This approach makes non-optimization algorithms prone to getting stuck in local minima and reduces optimization success when there are narrow obstacles
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[0044]In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
[0045] The technical scheme adopted in the present invention comprises the following steps:
[0046] 1) Generate the initial path of the overall formation;
[0047] 2) Solve the trajectory to optimize the initial solution parameters;
[0048] 3) Optimize the flight trajectory that satisfies the constraints;
[0049] The step 1) generating the initial path of the overall formation includes the foll...
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The invention relates to a trajectory generation method for multiple robots constrained by flexible ropes, and belongs to the research field of robot trajectory planning. Consider the entire aircraft cooperative handling system as a sphere, with the length of the rope as the radius; for each aircraft, set the random expansion vector of RRT*, set the starting point and the end point, conduct a path search, and obtain a set of discrete vectors, As the initial trajectory; inversely solve the continuous data of each dimension, and obtain the corresponding B-spline curve control point parameters as the initial parameters of optimization; select all the B-spline curve control points as optimization variables, and optimize the trajectory of the aircraft Defined as a nonlinear optimization problem, the optimal control point value of the B-spline curve of each dimension in the optimization vector can be solved by nonlinear optimization of the optimization problem, so as to obtain the polynomial expression of each dimension, and the real-time solution can be obtained. out the flight path of the entire aircraft formation.
Description
technical field [0001] The invention belongs to the research field of robot trajectory planning, and particularly relates to a trajectory generation method for multiple robots restrained by flexible ropes. Background technique [0002] In recent years, multi-robot collaborative work has become more and more common. Common application environments are multi-UAV formation performances, multi-intelligent car formation performances, drones and smart cars. Collaborative work in the air, multi-arm joint maintenance, etc. Using multiple robots to cooperate with each other can increase the stability of the system, improve the work intensity of the system, and enable the system to complete more complex tasks. The same multi-robot collaboration brings about an increase in the complexity of the system. A common problem in multi-robot collaborative operation is the trajectory planning of robots, especially when multiple robots are involved, the robots must avoid collisions with each ot...
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IPC IPC(8): G05D1/10
CPCG05D1/104Y02T10/40
Inventor 黄攀峰裴崇旭张帆沈刚辉
Owner NORTHWESTERN POLYTECHNICAL UNIV