Research On Path Planning Of Intelligent "Climbing" Robot Logistics System

Currently,both spatial resources and human resources,the cost are increased with the rise of intelligent manufacturing,warehousing and distribution of mainstream development trend is gradually taken over by automatic and intelligent technology,under this background,the main direction of warehousing industry into a research with robots,the shuttle as the core equipment of intelligent storage system solutions,Based on the analysis of previous studies,the main application of storage robots is a single mobile robot,handling robot or lifting robot.Mobile robot with lifting function belongs to innovative equipment and technology at present,and the research on its path planning and management is relatively lacking at home and abroad.At the same time,at present,there are many theories on the path planning of mobile handling robot in domestic research,and there are many theoretical model algorithms for path planning.Most of the system simulation is limited to the simulation of part of the system,and the reason is that there is no initial model of the overall logistics system.This paper intends to build an environment image model of intelligent logistics system based on "climbing" robot integrating warehousing and distribution,and carry out kinematics analysis on climbing robot.Through the construction of mathematical model,the research focus of this paper can be consistent with the theoretical optimal solution,and the final results can be consistent with the actual situation,in the theoretical level to guide and improve the practical intelligent cargo handling work.The application of "climbing" robot in the logistics system makes the integration of access and handling,instead of the combination of elevator and conveyor in the traditional intensive storage system,the intelligent "climbing" robot can be independently completed from picking up goods from the shelf to conveying to the production line,enhancing the flexibility of the logistics system.This topic mainly aims at is the in warehouse logistics environment,whether the "climb" robot research has on the surrounding environment perception and resilience of emergency,by using the literature methodology,model analysis method,system analysis and study to the study of the traditional ant colony algorithm,in order to solve some problems,appropriate measures are being formulated to solve them.The main innovations of this article include:1.A new model of intelligent "climbing" robot logistics system integrating warehousing and transportation is built.The ant colony algorithm is improved by using elite strategies,such as how to update pheromone quickly and effectively in its transfer probability.On this basis,the smoothing method is also introduced,which can be based on the center point.This method can not only solve the problem that the ant colony algorithm is slow at the beginning of the start-up,but also effectively reduce the energy consumed by the intelligent robot when turning.2.After collecting sufficient information,this paper improves the ant colony algorithm according to the relevant obstacle information in the logistics system,which is a method based on rolling window to help the intelligent robot to explore the operating environment carefully and solve the most path for the robot to avoid dynamic obstacles.Therefore,combined with the above analysis,this paper uses the grid method for image modeling of the intelligent "Climbing" robot logistics system,uses the improved ant colony algorithm for global static and local dynamic path planning of the robot,and uses MATLAB for digital simulation to seek the theoretical feasible solution and ensure the practical feasibility.The overall research has theoretical and practical significance.