Research And Design In Algorithm Of Path Planning And Task Scheduling For Wheeled Robot

The development and application of wheeled robot which acts as a kind of automated guided vehicle(Automated Guided Vehicle, for short AGV) in the workshop has become an important means to improve the economic efficiency of enterprises with the gradual development of unmanned factory of automation, intelligent logistics system and flexible manufacturing system. The development of wheeled robot system has great application value and practical significance in improving production efficiency, saving production time, saving energy and environmental protection. The development of the software system is one of core in wheeled robot system. It is an important symbol to realize the information and network of intelligent factory. In this paper, development process of wheeled robot system includes path planning and task scheduling. The main research contents are as follows:Firstly, this article analyzes the key technologies about wheeled mobile robot including navigation and location, path planning and task scheduling based on wheeled robot overall structure and working principle, and presents working process of wheeled mobile robot.Secondly, the path planning of single wheeled robot is studied. It uses graph theory method and the grid method to establish two-dimensional map information of wheeled robot, and puts forward an improved ant colony algorithm to solve path planning. Node selection strategy, algorithm search method and crossover operation are introduced to improve ant colony algorithm. Meanwhile, a simulation test is done on MATLAB, which shows that improved algorithm can obtain the shortest path without any collision.Then advantages and disadvantages of task scheduling algorithm are compared to propose a hybrid algorithm of genetic algorithmwithmultilevel coding and ant colony algorithm on base of dispatching mode, scheduling index and scheduling conflict in wheeled robots scheduling, and designs its process, determines critical points between genetic algorithm withmultilevel coding and ant colony algorithm. Then hybrid algorithm can complete the specific tasks by priority according to settings of Trapezoidal fuzzy completion time. Then, simulation is completed about hybrid algorithm used in scheduling examples of solving actual task, and it shortens time to complete the task, meets the actual requirements, and achieves satisfied results on base of setting priority in task completion.Finally, this paper develops software system of wheeled robot by using Qt creator which is object oriented, easy to expand and supportive component programming. Software system includes path planning module, database module, task management module, robot management module and communication module and so on. Tests of overall function, path planning and task scheduling are completed in software system. Experimental results of system operation show that the software can meet design requirements, which verifies reliability and practicability of path planning and task scheduling algorithm.