Research On Path Planning Systme Of Multiple Robots On The Platform Of ARM

With the rapid improvement of social production, the single robot can not meet people’s needs, and multiple robots system has been more and more attention. Path planning is one of the most basic research problems in many research problems of multiple robots system, and is also the key part of the successful completion of multiple robots. This paper aims to study the path planning problem of mobile robot, from the research of path planning of single robot, and to multiple robots path planning and coordination, and finally to the design of multiple robots path planning system based on ARM.Firstly, the path planning of single robot is studied. Based on the traditional ant colony optimization algorithm(ACS), an improved ant colony optimization(IACS) algorithm is proposed. In the improved ant colony optimization(IACS) algorithm, the 3-OPT operator is to adjust the optimal solution of the algorithm to improve the accuracy of the algorithm. The simulation experiments show that the improved ant colony optimization algorithm has higher accuracy and better stability than the traditional ant colony optimization algorithm.Secondly, multiple robots path planning is studied based on the path planning of single robot. A global objective function is proposed for path planning problem of multiple robots. According to the principle of rolling path planning, prediction strategy based on rolling window is proposed. A local obstacle avoidance strategy is proposed for the conflict between the robot and the obstacle, in order to coordinate the path conflict between the robot and other robot, local coordination strategies are proposed based on mutual information. Finally, the prediction strategy based on rolling window, the local obstacle avoidance strategy and the local coordination strategy are applied to multiple robots path planning algorithm, A multiple robots rolling path planning algorithm based on classification coordination is designed.The hardware platform of multiple robots simulation system based on ARM platform is studied. The hardware characteristics of pcDuino platform are introduced, and the overall design scheme of the hardware platform based on ARM platform is introduced.Finally, the software design of the multiple robots simulation system based on ARM platform is studied, constructing the pcDuino embedded system and the QT environment in Ubuntu system. To develop the application program based on pcDuino, and design the GUI, display and operation of multiple robots path planning system through the touch screen.