Research On Path Planning Of Multiple Handling Robots Under Moving Obstacles

In recent years,driven by the "Internet +" boom,the e-commerce industry has developed rapidly,the number of commodity orders is increasing,and the needs of customers are constantly changing,which puts forward higher standards for the logistics industry.Under this background,the scale of warehousing operations continues to expand,and major e-commerce companies have adopted digital,automated,and intelligent warehousing and transportation equipment to speed up the logistics sorting speed and improve the overall operation efficiency of the warehouse.The addition of non-handling robot automation equipment has a certain scale of interference and impact on the path planning and overall scheduling of handling robots.How to properly plan the path of the handling robot,and how to efficiently and systematically coordinate and cooperate with each part of the automation equipment and the handling system is currently a problem to be solved.This paper aims at the path planning of existing handling robots.According to the common solutions to the path planning problem,a series of studies have been carried out on the path planning method,environment modeling problem,algorithm design and online scheduling problem of the handling robot in the mobile obstacle environment.The main research content includes:According to the actual working environment of the handling robot in warehousing and logistics,a moving obstacle model is proposed to specify the lane direction and capacity limit in the warehouse management environment.A unified standard for the traveling direction of handling robots was established,and a map model of path planning environment for multiple handling robots with moving obstacles was established.The problem hypothesis and model conditions are proposed,and the shortest total transport time is the final optimization goal.The path planning model of multi-handling robot with time window is established under the consideration of path capacity limitation,path travel direction limitation and battery capacity limitation.Considering the interference of turning time and congested road sections on path planning,the improved A * algorithm is used to plan the path of the handling robot,and the time window model is planned for each handling robot and moving obstacles.At the same time,parallel measures of online conflict detection strategy and time window lapse and re-planning strategy are taken to reduce the overall running time and travel distance of the handling robot.Using MATLAB software to carry out simulation experiments on the dynamic path planning algorithm of multi-handling robots.The comparison on the simulation experimental data proves that the proposed path planning mathematical model and the improved A * algorithm can optimize the running time of the handling robot to a certain extent,and verify the improvement.The effectiveness and stability of algorithms and scheduling strategies.Finally,an improved A * algorithm and online scheduling strategy are proposed to a certain extent to optimize the overall running time and travel distance of the handling robot,and effectively solve the path planning problem and coordination operation problem of the handling robot under the interference of other automated equipment movement.