Research On Multi-robot Path Planning Algorithm

Transshipment is the most frequent logistics activity in an intelligent factory,requiring a large amount of labor and time.As with the representative of the mobile robot automatic guided vehicle(automated guided vehicles,AGVs)of production began to rise,the smart factory through the flexible manufacturing system FHS(flexible handling system)together with AGV to realize the possible transfer of goods.In this paper,jade processing for target industry,implementation of the "intelligent industrial standard 4" in a few years' time,to promote the early realization of "2025"China manufacturing planning goals,focuses on the problem of mobile robot path planning.We firstly discussed the present situation,the existing task allocation strategy in FHS problems are summarized and the in-depth analysis and research,pointed out the shortcomings of the FHS task allocation strategy.At the same time,a new optimization strategy is proposed for collision avoidance algorithms in real mobile plants.The experiments are carried out in a real factory,and the task allocation method and collision avoidance algorithm are verified.Specifically,this thesis will study the following three aspects for the path planning problem of multiple mobile robots:(1)Research on task assignment method based on assignment rule.It is an important part of the path planning algorithm for multiple mobile robots to select the appropriate task allocation method to improve the production efficiency.Based on the traditional single attribute assignment rule method and multi attribute assignment rules method for comparative analysis,design in line with the subject of the algorithm,and the defects on the relationship between multi attribute assignment rules ignore the task before and after improvement,proposed re allocation wait time distance and task assignment rules based on improved MDWD-R method the comparison tests were carried out on a variety of task allocation method in real factory environment.(2)Research on collision avoidance algorithm based on resource application and release.Based on the analysis of common collision avoidance algorithm,this paper designs a collision avoidance algorithm based on the application and release of the problem,and puts forward the corresponding optimization strategy for the limitations of the three algorithms.Finally,the validity of the algorithm is tested through experiments.(3)The construction of FHS system in real factory environment.At the same time in order to verify the proposed task allocation method based on heuristic rules and collision avoidance algorithm based on resource application and release in the path planning of multiple mobile robots,to verify the validity of the algorithm through the FHS system to set up the real.