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摘要
针对多机器人多目标路径规划问题，提出基于算法融合的多机器人多目标路径规划算法.算法采用改进A*算法进行全局路径规划，采用改进模拟退火算法规划多机器人在组合全局路径最优的情况下，保证最远机器人路径最短，采用DWA算法进行局部路径规划，实现机器人局部运动避障.为了验证所提算法的可行性和优越性，对其进行仿真实验，实验结果表明，改进A*算法比经典A*算法在转弯次数、转弯角度、遍历节点、规划距离分别减少16.66%、41.24%、23.3%、0.77%，改进模拟退火算法与传统模拟退火算法在仿真时间、最长路径长度、总路径分别减少12.09%、22.26%、5.74%,DWA算法能够实现多机器人局部路径规划与避障.
关键词
多机器人
/
多目标
/
A*算法
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模拟退火算法
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路径规划
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DWA算法
Key words
multi - robot
/
multi - objective
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A* algorithm
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simulated annealing algorithm
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path planning
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DWA algorithm
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范县成,凌新宇,余叶青,黄洪斌.
基于算法融合的多机器人多目标路径规划研究[J].
云南民族大学学报(自然科学版), 2025, 34(03): 342-349 DOI:10.3969/j.issn.1672-8513.2025.03.012
基金资助
安徽省高等学校省级自然科学研究计划项目(2023AH052918)
安徽省高等学校省级自然科学研究计划项目(2024AH050637)
安徽信息工程学院青年科研基金项目(24QNJJJ012)
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