Research On Path Planning Of Multi - Mobile Robot For Intelligent Warehouse

With the development of global manufacturing form and pattern,robot technology and its application have become the commanding heights of major countries in the fields of science and technology,industrial development,strategic direction.The most representative type of robot is a kind of machine that can execute,assist and replace some human work according to target instructions.In this paper,the working condition of logistics and cargo handling in intelligent warehouse is taken as the research background of mobile robot path planning,aiming at enabling the mobile robot to accurately,efficiently,safely and autonomomously search for an optimal path from the starting position to the target position without hitting a wall under the complex environment of obstacles.Firstly,according to the development history of robots at home and abroad,the strategic height and significance of mobile robots in the global intelligent manufacturing industry are discussed,and the path planning methods,application fields and future development trends of mobile robots are elaborated in detail.Through the analysis of the path planning technology of mobile robots,the direction for the follow-up intelligent warehouse path planning research in this paper is provided.Then,the key technologies of path planning for multi-mobile robots in intelligent warehouse are studied.The mathematical model of path planning for multi-mobile robots in intelligent warehouse is established.The control system,hardware system and kinematics model of the mobile robot are analyzed.The methods of environment map creation,navigation,location and path planning for mobile robots are discussed.The obstacle mapping,conflict detection and resolution of mobile robots are discussed in detail,which provides theoretical and practical support for the realization of path planning algorithm for multi-mobile robots in intelligent warehouse.Secondly,in view of the shortcomings of traditional path planning key technologies and research methods,this paper proposes an improved A* algorithm and an improved A* ant colony hybrid algorithm respectively.The improved A* algorithm proposes an included angle method and heuristic function weight processing method.At the same time,the residual sum of squares determination coefficient is introduced to measure the quality of the fitting curve.According to the path evaluation mechanism function,the generation value of the obtained smooth path will not be further increased and is more suitable for path planning.The improved A* ant colony hybrid algorithm is to firstly carry out initial path planning based on the A* algorithm,then analyze which nodes need to improve the planning in the searching process according to the inflection point of the initial path record,and then add ant colony algorithm to optimize the path trajectory so as to make it more suitable for the intelligent warehouse working environment with larger space complexity.Based on the two-dimensional and three-dimensional working environment,the experimental simulation analysis of the two improved algorithms is carried out respectively,which verifies the rationality and Practicability of the improved algorithm.Finally,based on Delphi7.0 platform programming development environment,the visual interface of intelligent warehouse mobile robot path planning is developed,and the system running experiment is carried out.The analysis results of each module of the system show that the improved A* algorithm and the improved A* ant colony hybrid algorithm can well solve the path planning problem and effectively optimize the path trajectory in intelligent warehouse path planning.