Path Planning Of Dual Robots In Dynamic Environment

Path planning of mobile robots is an important research direction in the field of robots,and multi-robot path planning is an important branch of mobile robot path planning.The tasks performed by the multi-robot path planning have the following requirements: the shortest path,avoiding collision between the robot and surrounding obstacles,and coordinating the motion state between the robots to prevent path conflicts between the robots.Taking dual robots as an example,aiming at the path planning problem of multi-robots,this paper adopts the idea of combining global path planning with local path planning.Based on the fact that genetic algorithm has good global search ability and strong autonomous learning ability,a path planning method based on improved genetic algorithm is proposed to solve the global path planning of multi-robot system.Then,based on the rolling window prediction theory in static and dynamic environment,the corresponding collision avoidance and coordination strategies are proposed to solve the local path planning of the multi-robot system.Finally,the path planning efficiency of multi-robot in complex environment is greatly improved.The main research contents are as follows:(1)The shortcomings of traditional genetic algorithm are analyzed and improved.The main contents are as follows:(1)Initial population is generated by adding the optimized artificial potential field method,which greatly improves the quality of initial population and provides a good population environment for genetic operations such as selection and crossover;(2)The fitness function is redesigned to make its evaluation criteria more realistic;(3)The adaptive function is added to the genetic operator,which solves the shortcoming of the traditional genetic algorithm,and makes the iteration of the population more efficient.Finally,the feasibility and validity of the improved genetic algorithm are verified by simulation in single robot environment using MATLAB software,which lays a foundation for the path planning of multi-robot system.(2)In the dual robot path planning problem in static environment,the idea of combining global planning with local planning is proposed,Based on the prediction theory of rolling window,the corresponding path coordination strategy is formulated according to the collision condition and path conflict mode of mobile robot.The dynamic priority method is proposed to make the robot both optimal in both time andpath length constraints.(3)The path planning problem of dual robot in dynamic environment is to add a limited number of dynamic obstacles to the dual robot system based on static environment.According to the pre-judgment of the state of dynamic obstacle motion,the collision form is determined and the corresponding collision avoidance strategy is formulated.Finally,the simulation experiment proves the effectiveness of the method.