The Study Of Multi-robots Of Path Planning Based On Multi-agent System

Path planning is the precondition of accomplishing missions logically and efficiently for multi-robots. How to choose reasonable or even optimal path is important question for study. Multi-robots path planning works in the multi- robots system. Its'role is to program paths for every robot while ensuring no collision between the robot and the obstacle of environment or between robots all the time. This paper just studied path planning method in multi-robots system based on Agent theory.Firstly, this paper has deeply researched multi-robots system, Multi-Agents (MAS) and the development and characteristic of multi-robots system. And above this foundation, it proposed a Path planning thought of MAS and sets forth the content of each function module for this planning. Then it has already researched the path planning methods of multi-robots, and it summarizes their merit and the shortcoming. Lastly, aiming at the multi-robots system in the characteristic, it thoroughly has studied has multi- robots path planning based on the behavior, the consultation and the wish intensity. And it produces the simulation experiment.In the behavior of avoiding the obstacle, we propose a path planning method called Improved Artificial Potential Field (IAPF) method. Firstly, it attaches importance to the barrier of the place straight ahead. And it changes the degree of approach which it is between the robot and the obstacles on the both sides .To solve the"collision avoidance lock"for multi-robots, we add a rotating force to the robot on the traditional APF. When the robots are too near, the forces will make robots in danger turn right (or left). Afterwards, we carry out a simulation in the environment of signal robot and multiple robots to test the method and prove its validity.