Multi Robot Task Assignment And Path Planning For Intelligent Factory Logistics

With the transformation and upgrading of the factory,the level of automation and intelligence of the factory has been continuously improved.Building an intelligent chemical plant has become a new strategy for the development of many production enterprises.In the intelligent upgrading of factory logistics,logistics robot is an important part.In logistics system,multi robots work together,so it is very important to study the task assignment and path planning of intelligent factory logistics.Firstly,the basic theory of multi robot task assignment and path planning in factory logistics is studied.The problem of factory logistics is divided into two parts: task assignment and path planning between tasks,and the overall scheme of multi robot task assignment and path planning system is designed.Secondly,aiming at the problem of long communication time and the limitation of communication link in the process of multi robot task allocation,a multi robot task allocation method based on improved consistency coordination is proposed.In this method,the same bidding robot is divided into a group by obtaining the same bidding robot number in the task bidding stage,and a dual communication mechanism is established between the group and the group,and the constraint condition of electric quantity is added to ensure that the results of the algorithm are more realistic.The simulation results show that the algorithm consumes less time in task allocation and the planning results are better.Then,to solve the problems of slow convergence and insufficient convergence in most algorithms of robot path planning,an improved heterogeneous dual population ant colony algorithm is proposed.In this improved algorithm,the population communicates by heuristic collaborative pheromone,which does not directly participate in pheromone updating,and dynamically affects the pheromone concentration of the algorithm according to the complexity of the inter task environment,so as to improve the path search efficiency of the algorithm and reduce the possibility of falling into the local optimal solution.Simulation results show that the algorithm can effectively jump out of the local optimal solution in path planning,and the path convergence length is shorter.Finally,a multi robot task allocation and path planning system is built and tested.The system has production planning module,task allocation module and robot status monitoring module.The task allocation and path planning experiments are carried out on the system.The experimental results show that the multi robot task allocation and pathplanning algorithm studied in this thesis has less running time and shorter total path length,and has certain practicability.