Multi Robot Path Planning And Design Of Cooperative Work And Application

In a variety of exploratory applications,it was found that,for complex environments,staggered tasks,single robot sometimes seems inadequate.Thus,the use of multiple single robot,through the division of labor and cooperation between robots to complete the task began to appear.Compared to the single robot,multi robot has many obvious advantages:first,multiple robots can be arranged in a distributed task execution process,increase the working space and coverage;second,multiple robots can achieve parallel operations,accelerate the task completion rate;third,multiple robots can be achieved the establishment of information communication,the local to the global information network;fourth,collaboration between multiple robots to accomplish complex tasks,large.In this paper,the problem of multi robot cooperation is studied:Firstly,the path planning of robot based on artificial potential field method is analyzed in detail,and it is clear that there are two problems:the goal is unreachable,and it is easy to fall into the local minimum trap.For these two problems are improved,the repulsive function is modified to increase the exchange of information between the robot,and then put forward the improved artificial potential field model,effectively solve the path planning problem of multi robot.Second,based on the basic theory of the homogeneous transformation and the spatial position relation of the rotation transformation,the theory of the forward kinematics and the inverse kinematics of the robot are deeply analyzed.On this basis,the design of the three degree of freedom robot,constructed the Jacobi matrix,and the end of operation analysis of trajectory planning,the transition time and the acceleration curve,velocity curve and displacement curve obtained,laid the kinematic basis for multi robot collaboration follow-up.Third,based on the research of robot path planning,kinematics analysis and trajectory planning of robot,the cooperation of multi robot is simulated.Collaborative effect shows the software design process,select the Visual C++ programming language and OpenGL 3D visual effects display controls.In the simulation experiment,two experiments were carried out,such as the cooperation of the three robots to complete the heavy objects,and the cooperation between the two robots to carry the heavy objects.