Research On Path Planning Of Multi-robot Cooperative Detection

With the continuous development of industrial robotics,single robots cannot meet the needs of society.Multi-robot is applied to all aspects of social life to help people complete complex or repetitive tasks.The collaboration of Multi-robot solves more and more difficult problems,and the most important is the path planning of multi-robot collaborative operation.This paper analyzes the research status of the path planning problem and path planning method of multi-robot at home and abroad.It is found that most scholars study the path of multi-robot in global static environment or single robot in a dynamic environment,and few scholars have studied multi-robot to complete the assigned task of the path planning problem in a dynamic and complex environment or established the integer programming model to solve the path planning of multi-robot in global static environment.This paper respectively studies the path planning problem of multi-robot collaborating to complete multiple probe points' detection tasks under static environment and dynamic environment.The main contents of this paper are as follows:Firstly,Plan the path for a single robot to complete multiple probe points' detection tasks.The working environment of multiple robots is modeled by serial number grid method,and the adjacent distance matrix is used for storage.Aiming at the problem of path planning for multi-probe detection tasks,a mathematical model is established and a program with Floyd algorithm is written and solved by MATLAB.Then,according to the path planning problem of multi-robots to complete multiple probe points' detection tasks in the static environment,the initial path of each robot is calculated based on the path planning result of single robot.Considering the maximum running time of the single robot,to use the minimization of the sum of the fixed cost and the operating costs of robots as the goal,an integer programming model for task allocation and path planning of multi-robot with collision detection is established.Introducing the penalty term of the number of collisions,the genetic algorithm with collision detection is designed and solved the optimal number of robot,the detection task of each robot,and the no collision paths of the various robots to make the total cost of completing the detection point detection task lowest.Based on the study of path problem of multi-robot in static environment,a number of dynamic obstacles are added in the working environment of multi-robot and studied the path planning for multi-robot to complete multiple probe points' detection tasks in dynamic situations.Firstly,according to the path planning results of multi-robot in static environment,the initial path of each robot is calculated.Considering a number of dynamic obstacles in the running of the robot,the running path of each robot and dynamic obstacle is compared to determine the type of collision.According to the collision avoidance strategy and method to avoid collision,Update the path of the robot in real time until the last robot completed the detection task back to the platform and then get the final path of multi-robot.Finally,the genetic algorithm with collision detection is designed to solve the path planning of multi-robot,so as to avoid collision with each other and multi-robot complete the detection task of multiple detection points back to the starting station.Finally,according to the actual case of multi-robot coordinative to complete the detection of multiple detection points in a region,a large-scale of the path planning method of multi-robot based on partitioning strategy is constructed and SPSS is used to group multiple probe points and departure stations.According to the results of cluster analysis,the working environment of multi-robot is planned.According to the clustering analysis of the results show that the path planning problem of multiple robots in large area is transformed into the path planning problem of multi-robot multi-detection points in multiple small areas.The robots in the small area of the detection point of the detection of the distribution of tasks at the same time to complete its no collision shortest path of the planning.The path planning of multi-robot detecting the multi-probe point in the large area is turned into the path planning of multi-robot detecting multiple probe points in multiple small areas.Finally,the minimum path of the robots in the small area is planned.