中文摘要：

针对共享工作空间的多台机器人，提出了一种协调无碰运动规划方法．作为离线规划的解耦法，该方法主要分为2个阶段．第1阶段，根据任务需求在不考虑机器人间相互冲突的情况下，通过概率路径地图（PRM）法规划出各机器人与静态环境的无碰路径；第2阶段，把机器人的路径描述成连续的位形序列后构造系统的状态空间，形象地把所需解决的问题转换成高维状态空间中的连续路径搜索问题．在此基础上，提出了多机器人的避碰策略、运动序列优先级的动态调整方法和改进的A＊算法，实现了多机器人系统无碰协调运动规划．通过2个仿真案例验证了该方法的可行性及有效性．结果表明，所提方法能快速、有效地得到多机器人协调无碰运动路径．

英文摘要：

A collision-free, coordinated motion planning is presented for multiple robots in a shared workspace. The proposed method consists of two phases. In the first phase, a collision-free path with respect to stationary obstacles for each robot is planned according to task requirements without considering the conflicts among the robots by employing the prob- abilistic roadmap （PRM） method. In the second phase, the robot path is described by continuous configuration sequences, the state space of the whole system is constructed, and the investigated problem is transformed into a continuous path search problem in a high dimensional state space. On this basis, a collision-avoidance strategy for multiple robots, a dynamic mod- ification method of motion sequence priorities, and an improved A＊ algorithm are proposed, and collision-free, coordinated motion planning for multiple robots are implemented. The feasibility and effectiveness of the proposed approach are demon- strated with 2 simulation cases. The results show that the proposed method can rapidly, effectively obtain the coordinated collision-free paths for multiple robots.