Research And Implementation Of Multiple Car-like Robot Motion Coordination Algorithm Based On The Grid Model Of Scene

For nearly half a century,the robot technology has made a great breakthrough in the theory and application,it has been used in the field of aviation,agriculture,construction,manufacturing,services and other aspects.With the extension of application fields,the research of multi robot system has been paid more and more attention,because a single robot has been unable to do the tasks that human assign to them,for some complex dynamic environment,a multi-robot system has e advantages of flexible,efficient and strong fault tolerance etc.The multi-robot system can use its distribution in space and time to complete more complex tasks,and complete the task time with higher efficiency,better completion.Therefore,how to deal with the coordination of multiple robots working in the same environment has become a new topic in the field of swarm intelligence,which has important theoretical and practical significance.The goal of this paper is as follows:in the premise of ensuring no collision and complete the task as soon as possible,how to coordinate robot motion in the same scene.Aiming at the problem of multi-robot motion coordination in the same environment,in this paper,an algorithm for multi-robot motion coordination is proposed.The algorithm is composed of three modules:path generation,collision section calculation and motion coordination.First of all,in this paper we use the path generation algorithm based on the three times Bezier curve to plan a collision free path for every single robot.Secondly,in the section calculation module,we uses the mesh model of scene and bounding box method to do the collision detection.Finally,in the motion coordination module,based on the results of first two algorithms,we takes the kinematics model of the robot into consideration and uses mathematical modeling to convert the multi-robot coordination problem into the optimization problem of mixed integer linear programming,the output of this algorithm is the velocity profile corresponding to each robot.In order to do algorithm experiments and show the simulation of coordination,this paper constructed two experiment platform based on Qt and Visual Studio 2010 development environment.A series of experiments show that the coordination algorithm proposed by this paper can effectively solve the problems,has practical significance.