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Integrated Motion Planning and Control for Multi Objectives Optimization and Multi Robots Navigation

机译：用于多目标优化和多机器人导航的集成运动计划和控制

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This study proposes model of the optimal motion planner and controller for multi mobile robots. The proposed controller is responsible for avoiding the collision among multi robots after generating the optimal trajectory in term of multi objective for each robot. This work includes two stages: the first is to generate multi objective optimal path and trajectory for each robot independently from the start to the goal position using the modified genetic algorithm (MGA) with A? search algorithm (A?). The second one is to establish a movement strategy to let the robots navigate with avoiding collision risk with each other by introducing Sugeno first order fuzzy controller. Five objective functions have been proposed in this study for minimizing travelling length, time, smoothness, security and trajectory and reducing the energy consumption for each mobile robot by using Cubic Spline interpolation curve fitting for optimal planned path. The simulation results show that the multi mobile robots navigate successfully with avoiding static obstacles as well as avoiding the collision between each other.
机译：这项研究提出了用于多移动机器人的最优运动计划器和控制器的模型。所提出的控制器负责在产生针对每个机器人的多目标方面的最优轨迹之后避免多机器人之间的碰撞。这项工作包括两个阶段：第一阶段是使用带有A？的改进遗传算法（MGA）为每个机器人从起点到目标位置独立地生成多目标最优路径和轨迹。搜索算法（A？）。第二个方法是通过引入Sugeno一阶模糊控制器，建立一种运动策略，以使机器人进行导航，从而避免彼此之间的碰撞风险。通过使用三次样条插值曲线拟合优化规划路径，在本研究中提出了五个目标函数，以最小化行进长度，时间，平滑度，安全性和轨迹并减少每个移动机器人的能耗。仿真结果表明，多移动机器人在避免静态障碍物以及避免相互碰撞的情况下成功导航。

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