Research On Collision Avoidance And Path Planning For Multiple Mobile Robots

As the needs of society and the progress of technology, the application range of themobile robot has become more and more extensive and the use of robots environmenthas also became more and more complex and changeable. So the problem of the mobilerobot path planning gradually becomes a hot spot in the field of the robot research.Multiple mobile robots path planning problem is the main research on how to avoidobstacles and other robots activities and how to move from the starting position to thetarget location. It can also solve the robot system structure, control formation andcoordinate cooperation mechanism and so on, so multiple mobile robots path planningresearch has a great significance.This paper firstly discusses the robot’s basic problem, namely the robot systemstructure problem. In this paper, for single robot system structure is adopted structuredesign based on the behavior decomposition of fast response, and in order to improveoutput behavior’s the pertinence, designing a kind of hierarchical hybrid structure. Inthis paper, while multi-robot system structure is adopted hierarchical structure. Secondly,it introduces the application of the artificial potential field method in robots pathplanning problems and puts forward the limitations of artificial potential field method—the local trap. Aiming at this issue, we put forward a new and improved method thatincreases a simulated annealing disturbance quantity to make robots jump out of thelocal trap. In the problems of multiple robots and multiple target points, we introduce acollision avoidance strategy planning method which contains the desire strength andconsultations strategy. It makes the multiple robots find their individual goals. In theformation planning of the multiple robots, this paper combines the improved artificialpotential field method and leader-follower method to solve the formation controllingproblem to get the target point.Finally, using visual simulation modeling software Creator, real-time3d visualsimulation software Vega and the Vega’s API in VC++compiler environment toprogram, we realize the path planning formation of the multiple mobile robots.