Research On Path Planning Of Multi-mobile Robots In Intelligent Warehouse

With the rapid development of online e-commerce,express delivery and other industries,the surge of logistics orders puts forward higher requirements on warehousing logistics.The emergence of smart warehouses has gradually replaced traditional warehouses.The demand for automated handling in the cargo handling process will improve The scalability and robustness of the entire warehouse work promotes the development of warehousing logistics in the direction of intelligence.Among them,multi-robot collaboration has increasingly become an indispensable part of the operation of intelligent warehouses.The path planning technology of multiple mobile robots is one of the key technologies to realize the coordinated execution of handling tasks by multiple mobile robots in a complex warehouse environment and improve the efficiency of the intelligent warehouse system.The paper mainly focuses on the optimal path problem of multiple mobile robots in the warehouse for carrying out tasks.It focuses on the optimization methods of the order of multiple mobile robots in the warehouse,the global optimal path and the cooperative obstacle avoidance problem,while ensuring the reliability of multiple mobile robots in the warehouse,it further improves its transportation efficiency.The main work and innovations are as follows:(1)According to the process of multiple mobile robots performing warehouse tasks in the warehouse environment,the multi-mobile robot system in the intelligent warehouse is designed.According to the characteristics of the multi-robot system and the work flow of the multi-mobile robot system in the intelligent warehouse,the problems involved in the path planning process of the multi-mobile robot collaborative task are analyzed in detail,the environment element model is established by the grid method,and the layered hybrid is selected.The control method is used as the control method of the multi-robot system.(2)Aiming at the problem that multiple mobile robots perform multiple handling tasks in the warehouse,a distributed collaborative task allocation strategy is adopted,and a multi-task planning algorithm for multiple mobile robots based on an improved genetic algorithm is proposed.First,the k-means algorithm is used to cluster and partition task points that are close to each other,and each task block is sent to each robot to perform an operation task.Then,aiming at the problem of the optimal task handling order in the task block executed by a single robot,an improved genetic algorithm is proposed.The algorithm measures the diversity of the solutions and sets a threshold to increase the diversity of the solutions generated in the genetic algorithm.Finally,simulation experiments show that,according to the task execution sequence generated by this method,each robot performs tasks more efficiently than the random method.(3)Aiming at the global path planning and local conflicts of multiple mobile robots in a complex warehouse environment,a global path planning algorithm based on hybrid particle swarm optimization and a local dynamic obstacle avoidance strategy are proposed.First,the global path planning problem is described,the improved version of particle swarm optimization is analyzed,the two evolutionary operators of multiple crossover and mutation are merged into the improved particle swarm optimization algorithm,and the speed of the particle swarm is adjusted to avoid falling into local minimum and premature convergence.The path length is selected as the optimization target,and the collision penalty factor is added.The new hybrid particle swarm optimization algorithm is used to achieve the mobile robot's requirements for collision-free and the shortest global path.Under the same conditions,the particle swarm optimization,particle swarm genetic algorithm and the new hybrid particle swarm optimization algorithm are simulated,which proves that the use of this algorithm in a complex environment can ensure the efficiency of the intelligent warehouse system.Then,consider the local dynamic path planning of multiple mobile robots.According to the characteristics of the warehouse environment and the picking method of mobile robots,a set of multi-robot collision avoidance strategies suitable for multi-robot cooperative operation is designed,which solves the problem of local path conflicts when multi-mobile robots picking or charging,and effectively guarantees the multi-mobile robot system Reliability.