多机器人协作运输行李车系统中的运动规划研究

机器人作为多功能的自动化设备具备操作和运输物体的能力，其应用范围广泛，包括工业生产、物流派送、户外救援等。在许多情况下，机器人自主移动大型物体依赖多机器人的协作，以增强动力或机动性。应用多机器人协作技术以实现机器人自主地在国际机场等复杂而行人密集的环境中运输一整列行李车存在巨大的实际价值。这项任务极具挑战性，涉及机械设计、感知与定位和运动规划等多方面的机器人技术，具体原因包括: （1）机器人每次工作必须运输着多节行李车排列而成的队列。（2）工作环境可能是行人密集的大厅或杂乱的狭窄角落，要求机器人需要具备一定的适应性。（3）多台机器人必须精确地协调地规划运动，维持行李车队列的完整性和可控性以保证运输安全有效。
为了解决前文所述的难点，本文主要研究以下三个方面：（1）研究多移动机器人的协作运输，设计轻量化的低成本的移动机器人，搭载了专用的操作机构，并使用两台机器人组成编队来完成这项运输任务。（2）设计一种实用的机器人自主决策框架，将定位、感知和运动规划的功能分模块实现，以完成在复杂动态环境中的行李车运输任务。（3）研究多机器人协作运动规划方法，以实时地处理非完整性约束、队形约束等多种复杂约束。本文提出了一种分层级的规划方法，由行为
选择器、全局路径规划器和协作运动规划器三部分组成。
本文中设计了仿真和实物实验，验证了提出的分层级的运动规划方法满足该运输任务要求的实时性、准确性和安全性；并且在真实的运输场景中对所提出的的多机器人协作运输系统进行了验证，实验结果表明了该系统在复杂动态环境下的有效性和可靠性。

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