The Spatio-temporal Routing Planning Of Multi-robot Based On Music Wall

Path planning takes a very important part of intelligent robot research.Robot path planning is to let the robot in an unknown complex environment to explore an optimal line,to complete the specified target tasks.In recent years,domestic and foreign scholars have proposed various effective planning algorithms for robot path planning,and have achieved good results.These algorithms include evolutionary algorithms,genetic algorithms and ant colony algorithms.In this paper,we propose a new algorithm about Hungarian algorithm to solve the problem of target allocation,which can be transformed into a purely allocated problem,that is,the problem of robot target allocation,and finding the optimal allocation scheme then the robots path planning can be obtained.This paper first introduces the development and research status of robot path planning,and then introduces the relationship between the problem of target assignment and robot path planning.Theoretically,the robot path planning problem can be transformed into a purely distributed problem,the advantages and disadvantages of traditional planning algorithm are analyzed then concluded that the Hungarian algorithm is the best choice to deal with the problem of target allocation.Then introduced a music wall model of path planning,and introduced an optimal allocation situation for music wall model.Then the Hungarian algorithm is applied to the problem of low-dimensional target allocation,and the experimental results are basically satisfied with the distribution requirements.But the Hungarian algorithm is in the process of dealing with high-dimensional target distribution,because of the obvious advantages in dealing with high-dimensional data problems with the evolutionary algorithm,then the evolutionary algorithm is combined with the Hungarian algorithm,and the two algorithms are compared and analyzed.The evolutionary Hungarian algorithm can deal with the problem of robot target assignment better,at the same time,the evolutionary Hungarian algorithm also provides a solution to several situations that may occur when the target is allocated.Secondly,this paper focuses on the problem of unrestrained path planning and connectivity constraint path planning for robot allocation,by using the evolutionary Hungarian algorithm and its sub-algorithm in the framework,these two problems have been solved theoretically.Finally,the MATLAB simulation software is used to simulate the music wall model,and set the parameters,emulates the robots' road map and simulates the minimum number of robots.With the evolutionary Hungarian algorithm to deal with the problem of robot target allocation,we can get the global optimal solution of the distribution problem,and it is the "one to one" allocation pattern,which can improve the accuracy of the target distribution,and the path distance of the robot is smallest,the economic cost of the distribution of the target of the robot has been significantly reduced.