Research On Path Planning Method Of Multi-mobile Robots Under Static Environment

In recent years,with the progress of science and technology,the application of mobile robot is more and more extensive,and the robot's environment becomes more complex.Because of the high efficiency and robustness of multi-robot system,more and more scholars have studied it.Multi-robot path planning is a hotspot in the field of robot research.The main work is to plan an optimal path from the starting point to the target point for each robot and avoid obstacles and other robots.In this paper,the path planning problem of multiple robots in static environment is studied.The static global path planning and the local path planning of avoiding other robots are studied deeply.The main research contents of this paper are as follows:1)An improved ant colony algorithm with multi-step length is proposed to improve the global path planning.The algorithm realizes multi-step long path planning and shortens the path length.At the same time,the inflection point parameter is added to the probability formula to make the path smoother.Furthermore,a new pheromone reward and punishment mechanism is proposed to avoid the local optimization.The simulation results show that the proposed algorithm is shorter and smoother than the other improved ant colony algorithm.2)In the local path planning,the artificial bee colony algorithm is adopted.The concept of neighborhood segment is introduced to solve the problem that the number of nodes is not fixed in the path planning problem.The path of the robot is divided into multiple segments,and a new shorter feasible path is locally searched in each segment.This method only needs to consider the fitness value of the path in the neighborhood segment,and the planning time is shortened.The simulation results show that the efficiency of the local path planning by the artificial bee colony algorithm is better.3)Path length,path smoothness and pause time are taken as the optimization indexes of multi-robot path planning,and a path planning method combining global and local is proposed.Firstly,an improved ant colony algorithm is used to implement global planning.Then,a collision prediction strategy based on information interaction and a path coordination strategy are proposed to solve the collision problem among multiple robots.Path coordination adopts the strategy of pausing and modifying local routes and the artificial bee colony algorithm is adopted when modifying the local path.Simulation results show that the algorithm proposed in this paper has good convergence and high efficiency,which validates the effectiveness and feasibility of the proposed method in multi-robot path planning.