Research On Motion Coordination Algorithm For Multi-robot In A Special Road Network

With the development of artificial intelligence, machine learning, neural networks, genetic algorithms and other technology, robotics have been widely studied as well. The development of multi-robot systems bring the new creativity to the modern development. Robotics can not only replace human beings for complicated work, but also can complete the tasks that human beings can’t. Up to now, lots of achievements of robotics on industry, service, military, transportation and many other fields have been obtained. The research question of this paper is as follows:in the premise of ensuring no collision and complete the task as soon as possible, how to coordinate robot motion in a road network, which is known before.According to the problem of motion coordination for multi-robot in a road network, this paper presents an algorithm for calculating the minimum value of maximal accomplished time which multiple robots need to spend executing the task. This algorithm mainly consists of six core modules:information input module, central controller, collision detection, motion coordination, simulation scheduling and simulation evaluation. In order to reduce the time complexity of collision detection, the algorithm uses mesh generation and interval division of path to reduce the collision points which need to be detected, and use the bounding box, which is based on AABB, to reduce the number of objects which also need to be detected. Considering the kinematical constraint on the robot, the algorithm adds the acceleration constraints when it uses the mixed integer linear programming to solve the objective function, which makes simulation more practical. In addition, the path classification is used to improve the efficiency of the algorithm.In order to test the correctness and robustness of the algorithm, this paper constructed two experiment platform based on Qt and Visual Studio development environment. Several experiments show good performance of the algorithm, which can solve the problem effectively.