| Multiple mobile robots scheduling system is one of the key research directions in the field of mobile robot applications.As the most common mobile robot group application form,the multiple mobile robots scheduling system can complete single or multiple tasks with high complexity by scheduling mobile robot groups,and has a strong advantage in task execution efficiency.Now with the emergence of many new mobile robots,the possibility of multiple mobile robots scheduling system being applied to more occasions is greater,so it is worth carrying out more relevant research on it.This paper focuses on the path planning and task scheduling of multiple mobile robots scheduling systems based on ROS for the currently popular trackless navigation mobile robots.Main tasks as follows:Firstly,in the path planning of mobile robots,a right global path planning method is proposed.Use experimental mobile robots based on laser navigation to build a grid map,and create a simplified topological map with rules to the right on the basis of the grid map.Let the mobile robot first solve the shortest rough path on the right based on the topological map,and then combine the second-order Bezier curve and the A * algorithm to solve the global fine path on the basis of the grid map and the rough path,so as to realize the right global path planning of the mobile robot.At the same time,for the collision prevention between experimental mobile robots,a collision prevention measure based on pose recognition between experimental mobile robots is proposed.Secondly,in terms of multiple mobile robots task scheduling,a real-time task assignment method is proposed.Based on the framework of a task scheduling system that adopts a distributed control method for multiple mobile robotss,a real-time task allocation method is designed based on an auction algorithm,and is specifically implemented through ROS,so that the robots can realize real-time task allocation through autonomous negotiation.In addition,in order to build a complete task scheduling system and verify the feasibility of the task allocation method,a task scheduling management platform experimental software was also developed.Finally,in a specific experimental environment,based on the autonomously built mobile robot scheduling experiment system,the feasibility of the mobile robot's right global path method and the task scheduling system's real-time task allocation method was verified.At the same time,the overall scheduling effect of the mobile robot scheduling experiment system is tested by integrating all the above research contents. |
