Research And Simulation On Robot Path-Planning And Formation

The development of robot technology represents the level of a nation's science and technology. In the process of development in the robot key technology area, single robot's intelligence and multi-robots' cooperation and coordination become the research focus. So Path-planning and Formation which refer to the robot self-planning and multi-robot cooperation are the two key points of the robot research, which is closely linked to the design of the mobile robot and industrial robot. It's very worthwhile for the improvement of the robot's intelligence and accelerating the robot practicality in the theoretic research and application.The thesis analyzes the basic problems and associated techniques to be solved in the path-planning. According to the path-planning problem's characters, such as complexity, randomicity, multi-restriction and multi-objective, it proposes a global planning theory on robot-orientation based the existing methods. In the designing of the Single-Robot Path-Planning, the path-planning background and basic genetic algorithms (GA) adopted in single-robot are combined, thus the GA based on background technology is formed. The algorithms changes the original code and population initialization method, according to path-planning, a new operator is designed, which is realized in this thesis, and simulation results prove the validation of this method, at the same time, the influence of algorithmic parameters is analyzed and researched.Based on the single-robot path-planning method, the character of multi-robot's path-planning is analyzed, and co-evolutionism is introduced, finally a global path-planning way is proposed in the thesis. This method fully exerts the essence parallel of the GA on the theory of co-evolution, therefore realizes global path-planning of multi-robots by the cooperation of population classification and information exchange.In the research of multi-robots formation, this thesis analyzes the formation and control of robots' team. It realizes a coordination control method during the executing of the collaboration task. It adopts a team control strategy which is based on the combination of the "Leader" control method and team dynamic adjustment, thus it can improve the capability how the multi-robot team deal with the emergency. On the base of this method, and additionally by combination of robot's role conversion, multi-robots can accomplish the cooperating task much well.The thesis analyzes the function structure of the intelligent robot simulation system, designs the simulation software which provides the user mutual interface and function models for path-planning and formation research, more over proves the methods of path-planning and formation by simulation.