Research On Motion Coordination Of Multiple Car-like Mobile Robots With Designed Path

In recent years, the application of robotics is gradually changing from a single robot to multiple robots cooperation. The motion coordination of multiple car-like robots is the key technology of multi-robot collaborative work. Research on motion coordination of multiple car-like robots topic has been widespread concern. It has been applied to the military, manufacturing and logistics. Because most previous studies have been in the mobile robot path is unknown, so most of motion coordination algorithm is offline or online in path planning. This paper is aim to solve the motion coordination of multiple car-like mobile robots when the path is given. Specifically, the purpose of this paper is to implement an algorithm make sure that multiple mobile robots do not collide with each other in movement and minimize the total task completion time.The main contribution of this paper is as follows:this paper proposes a solution of the motion coordination of multiple car-like robots. And this paper constructs an algorithm framework which contains five parts including path designing, collision segment computing, motion coordination, speed smoothing and central dispatching. This paper converts the motion coordination problem into a mixed integer programming problem through the mathematical modeling. In order to solve the high time complexity of collision detection, the divide and conquer strategy is applied to reduce the time complexity which is inspired by train block section. In order to solve the problem of speed bumps, this paper presents the speed smoothing algorithm to optimize the car-like robots motion.Through simulation and verification, the results show that the algorithm for the general size of the multi-car mobile robot system, that he performance of the algorithm is good and can be applied into the actual production environment.