包邮复杂时空约束下的多智能体运动规划

第1 章 智能体运动规划研究概述·······································································（1）
1.1 研究背景···························································································（1）
1.2 研究现状···························································································（1）
1.3 研究思路···························································································（8）
第2 章 运动规划中的智能体多层次行为模型框架设计·········································.（11）
2.1 环境建模方法··················································································.（11）
2.1.1 三角剖分法···········································································.（11）
2.1.2 可视图方法···········································································.（12）
2.1.3 Voronoi 图法··········································································.（12）
2.1.4 随机采样法···········································································.（13）
2.2 运动规划方法··················································································.（16）
2.2.1 全局运动规划········································································.（16）
2.2.2 局部运动规划········································································.（20）
2.3 智能体多层次行为模型设计································································.（23）
2.3.1 智能体介绍···········································································.（23）
2.3.2 现有智能体行为模型框架·························································.（24）
2.3.3 智能体多层次行为模型框架······················································.（27）
第3 章 基于多信息域、多分辨率场景描述模型的多层次运动规划算法研究··············.（31）
3.1 相关工作························································································.（31）
3.2 层次化运动规划算法总体思路·····························································.（34）
3.2.1 问题描述··············································································.（34）
3.2.2 总体思路··············································································.（35）
3.3 全局层次上的多样化引导路径生成·······················································.（36）
3.3.1 高层时空约束的表示·······························································.（36）
3.3.2 全局概率路径图的生成····························································.（38）
3.3.3 全局多样化引导路径的生成······················································.（39）
3.4 局部层次上的多样化运动路径生成·······················································.（41）
3.4.1 局部高分辨率概率路径图的生成················································.（41）
3.4.2 局部多样化运动路径的生成······················································.（42）
3.5 动态障碍情况下的运动路径重新规划问题··············································.（43）
3.5.1 运动路径的重新规划·······························································.（43）
3.5.2 概率路径图的动态更新····························································.（44）
3.6 仿真实验与结果分析·········································································.（45）
第4 章 多智能体避碰行为研究·······································································.（48）
4.1 相关工作························································································.（48）
4.2 避碰行为的基本概念与问题描述··························································.（50）
4.2.1 基本概念··············································································.（50）
4.2.2 问题描述··············································································.（51）
4.3 反应式避碰行为模型·········································································.（52）
4.4 基于*小代价原则的预测式避碰行为模型··············································.（57）
4.4.1 *小代价原则········································································.（57）
4.4.2 基于*小代价原则的预测式避碰行为建模····································.（58）
4.5 仿真实验与结果分析·········································································.（63）
第5 章 基于增广物理仿真的运动规划多任务约束建模分析与优化求解····················.（67）
5.1 相关工作························································································.（67）
5.2 问题描述························································································.（70）
5.3 控制围栏函数基础背景知识································································.（70）
5.4 基于控制围栏函数的多任务约5