Multi-mobile Robot Path Planning And Simulation Research

Path planning technology is an important research direction in the field of intelligent robots.With the continuous progress and development of science and technology,it is difficult to complete complex work by a single mobile robot.Therefore,the direction of multiple mobile robots has become a hotspot for scholars.Multi-mobile robot systems have a strong advantage in working efficiency.At present,in terms of multi-mobile robots,the path seach problem still lacks mature theories and methods,which deserves in-depth study.This paper analyzes and solve the problem of multi-mobile robot path planning from three aspects.The main contents are as follows:First,In the case of a known statically environment,the path planning problem is analyzed.Based on the basic ant colony algorithm(AS),an improved algorithm-adaptive ant colony algorithm(ACS)is analyzed.Aiming at the shortcomings of this algorithm,corresponding improvements are made from the two directions of global pheromone update mechanism and deadlock problem,so corresponding improvements make the ant colony algorithm more suitable for the robot global path planning problem.The environment model is established by grid method,and the basic ant colony algorithm and the improved ant colony algorithm are simulated by MATLAB platform,the results show the advantages of the improved algorithm.Secondly,aiming at the analysis and research of the path problem of a single mobile robot in an unknown dynamic environment,a two-layer algorithm combining global path algorithm and rolling window algorithm is proposed,so,in the first layer planning,the robot plans a global optimal path in the static environment through the improved algorithm.In the second layer planning,the robot get real-time maps by scrolling through windows and the appropriate collision avoidance strategy is selected according to the collision avoidance prediction,so that the local optimization path is realized until the robot reaches the target point.Aiming at the situation that the dynamic obstacle may appear under the known motion state and the unknown motion state,the simulation experiments verify the feasibility and effectiveness of the algorithm in solving the path planning problem under the two situations.Finally,the problem of multi-mobile robot path planning is analyzed and studied in a dynamic environment.The paper analyzes the possible conflicts between robots and robots,and proposes appropriate coordination methods to solve conflict problems.On the basis of single mobile robot path planning,a priorty allocation scheme is introduced to simplify the complexity of the problem.At the same time,the formation problem of robots in static environment is proposed.The simulation environment was designed to simulate the multi-mobile robot path planning problem and the formation problem.