Multi-robot Path Planning And Collision Avoidance Collaborative Research

With the rapid development of science and technology in today’s world, robot technology hasalso made tremendous progress. Human beings have made fruitful achievements in the field ofrobots; meanwhile, robots have also gradually stepped into human being’s life. The multi-robotsystem is currently a hot issue in the field of robots, since it has such evident advantages oversingle-robot system as broader application background, better robustness, higher efficiency, bettercompatibility, less resource consumption when completing certain tasks, and being easy to researchand development. This makes multi-robot systems become a research direction with bright future inthe field of robot research. Among the many research questions in multi-robot systems, pathplanning is one of the core issues. Robot is able to achieve self-control and complete complex tasks,which reflects multi-robot system’s high degree of automation and intelligence.Multi-robot path planning, with multi-robot system as its research object, aims to find a safe andoptimal path starting from initial position to target position for every robot. In the process, it isnecessary to ensure that no collisions occur between robot and robot, and between robots andobstacles at any time. Although there are many solutions to the problem currently, individualsolution, with different efficiency facing different tasks, has both its advantages and disadvantages,and is not widely applied. This paper, in this case, with Pioneer3-DX as the test platform, designedthe multi-robot path planning and coordinated anti-collision system based on double fuzzy logic.The main research contents are as follows:Firstly, this paper, on the basis of introducing research significance, makes an analysis of theconcept of multi-robot systems, the system architecture of multi-robot systems, and the researchstatus of multi-robot systems at home and abroad. After comparing the advantages anddisadvantages of each robot path planning method, this paper takes fuzzy logic as the research focus,which lays the solid foundation for the design of the multi-robot path planning and coordinatedanti-collision system.Secondly, the research describes the Pioneer3-DX robot platform, and analyzes the fuzzycontrol theory deeply. With the theory as a theoretical basis, this research designs the directionfuzzy controller, and achieves the task of robot path planning. On this basis, in order to improve theefficiency of the system, this research adds the speed fuzzy controller in the upper level, andthrough combining with the strategy of coordination, this research designs the multi-robot path planning and coordinated anti-collision system based on double fuzzy logic.Thirdly, this research, with MobileSim simulation software and Pioneer3-DX robot as thesimulation and experiment platform respectively, simulates and tests the multi-robot path planningand coordinated anti-collision system based on double fuzzy logic. Apart from this, this researchadditionally, for many times, analyzes the effect the single fuzzy controller and double fuzzycontroller has on the efficiency of the system respectively in different and complex circumstances.The Simulation and experimental results show that the system designed demonstrates good usabilityand reliability for complex circumstances.Finally, this paper makes a summary of the research, points out some limitations of the research,and makes some prospects on the possible work in the future.