Research On The Collaborative Path Planning Of Multiple Mobile Robots In Complex Dynamic Space

In the research field of intelligent robotic control,path planning is not only one of the most important links to realize autonomous navigation of mobile robot,but also the focus of the domestic scholars.In order to improve the autonomous navigation capability of the multiple mobile robots,this paper studied the path planning technology of the wheeled mobile robots and the omni-wheeled mobile robots,which is based on the research status and development trend of the path planning technology.Firstly,the kinematic model and dynamic model of two types mobile robots are established.Further more,the control model of attitude transformation of wheeled mobile robot and the control model of the point motion of omnidirectional wheeled mobile robot are established,according to the kinematic model and dynamic models of mobile robots.Secondly,considering the requirement of global path planning for multiple mobile robots,time cost is introduced and time-optimal-A* algorithm(TO-A* algorithm)is used to construct a global path planning path for wheeled mobile robot to meet its kinematic constraints.On the basis of satisfying the dynamic constraints of the omnidirectional wheeled mobile robot,the TO-A* algorithm is improved and applied to the global path planning of the omnidirectional wheeled mobile robot.Moreover,the motion of the dynamic obstacle in the environment is integrated into the algorithm whereas the demand of mobile robot in dynamic environment.Meanwhile,a TO-A* algorithm is proposed to two kinds of coordination methods,which is named velocity rate changing method and navigation path changing method.Then,given the kinematic constraints of wheeled mobile robot,the paper improves the method of determining the parent-child node of the proposed TO-A* algorithm and establishes the dynamic path planning scheme of wheeled mobile robot.The algorithm is further extended to establish a dynamic path planning model of the omnidirectional wheeled mobile robot based on its characteristics.Finally,51 SCM and MATLAB development environment is used to set up a simulation planning platform for proposed path planning model,which consisted of mechanical platform,control system and software system.The validity of the proposed algorithm is verified through the established control model and simulation platform.