动态修改路径的多机器人路径规划
Dynamic Path Modification for Multi-robot Path Planning

为了实现在动态环境下多机器人无碰撞运动，提出一个动态修改路径的两阶段协调方法。首先，建立了动态路径修改的多机器人协调框架。在动态路径修改的第一阶段使用A*算法搜索每个机器人在静态障碍物下优化的无碰撞路径；第二阶段采用增量式A*算法搜索动态环境下的可行路径以提高搜索效率。针对发生的冲突，综合考虑规划时间和路径长度两个因素，建立的路径修改顺序模型，选择最优的修改路径。最后，实例验证了该方法的有效性。
In order to solve the multi-robot coordination problem in dynamic environments, we propose a two-stage decoupled dynamic path modification method, which can coordinate multiple robots in offline mode. First, we present a multi-robot coordination framework. In the first stage of coordination, the A* algorithm is used to explore the collision-free path with respect to known static obstacles. In the second stage, the incremental A* algorithm is employed to find the collision-free and optimized path with respect to dynamic obstacles. Considering the planning time and path length, an evaluation model for dynamic path modification sequence is established for conflicting robots. The conflicts between robots are resolved through altering robot paths. A case study indicates that the proposed method is effective