Research On Multi-robot Scheduling System For Intelligent Storage Environment

In recent years,the rapid development of the Internet has led to the rapid expansion of the scale of the logistics industry,and the disadvantages of the high cost and low efficiency of traditional warehouse logistics have been unable to meet the needs of rapid development.Following Amazon's successful application of the Kiva robot system in warehousing and logistics,the intelligent warehousing system that uses mobile robots instead of manual handling has become the mainstream of today's logistics industry.Through the research of multi-robot path planning and task assignment in intelligent storage system,the intelligent scheduling simulation system of multi-robot is finally realized.The main contents are as follows:Firstly,starting with the path planning of A single robot,this paper carried out the visual simulation of A* algorithm through progran,and conducted the autonomous navigation experiment of A single robot through the built ROS robot system,verifying the feasibility of A* algorithm.On this basis,due to the possibility of collision when multiple robots are running at the same time,a strategy based on traffic rules and reservation table is proposed for the collision mode of multiple robots.The simulation experiment of the algorithm is designed to verify the effectiveness of this method.Secondly,for another important problem in multi robots,task allocation is studied,The purpose of task allocation is to optimize the efficiency of the system through the overall planning of tasks.In this paper,the grid method is used to build the model of intelligent storage system.and on the basis of the grid model,the evaluation index of task allocation is obtained through mathematical description,so the auction method based on time and path weighting is proposed.The simulation experiment of the algorithm is designed,and the results of different task assignment algorithms are compared and analyzed,which proves that the improved algorithm has better overall effect.Finally,the theoretical analysis of multi-robot path planning and task allocation is modularized,a complete multi-robot intelligent scheduling graphical user interface simulation system is established,and a complete system simulation experiment isdesigned to verify the theoretically proposed method in this paper feasibility.