Abstract: The dynamic avoiding collision of multiple mobile robots is studied. Based on the analysis of the principle of velocity obstacles, it designs the interactive velocity methods and defines the collision time and collision distance factor to adjust configuration obstacles, the mobile obstacles, multi-step planning window under dynamic constraints and the goal point are mapped in a new set velocity variation space. Furthermore, in the velocity variation space, it translates the multi-robot dynamic collision avoidance problem into an optimization problem with a new objective function, and the corresponding dynamic collision avoidance arithmetic is designed. Simulation results show that this method is effective to overcome the impact of conflict, achieve an effective coordination and control between multi-robots, and improve the tracking of fast moving targets.

Key words: multi-robots, velocity obstacles, dynamic collision avoidance, motion planning

摘要： 针对多移动机器人运动协调中的动态安全避碰问题，在分析速度障碍法原理的基础上，设计用于机器人之间相互避让的互动速度法则，并通过制定机器人的碰撞时间、碰撞距离因子对构型障碍的大小进行实时调整，把运动障碍物、动力学约束下的多步可达窗口、目标点都映射到一种速度变化空间当中，使多机器人的动态避碰问题转化为一种最优化问题，并构造了新的优化评价函数；设计了基于改进速度障碍法的机器人动态避碰规划算法。仿真实验表明，该方法有效地克服了碰撞冲突，实现了多机器人之间的运动协调控制，提高了机器人追踪运动目标的快速性。

关键词: 多机器人, 速度障碍, 动态避碰, 运动规划