Research On Path Planning And Coordination Control Strategy Of Steel Wall Multi-robot

Steel wall robot is mainly used in ships,petrochemical tanks and other steel equipment,to achieve wall rust,spraying and other operations.For large-scale wall,it is difficult for a single robot to complete the task in the environment area quickly and efficiently.Multi-robot system has a high degree of parallelism in operation.Therefore,multi-robot system can be used to solve the problem of insufficient operation ability of a single large-scale wall robot.Multi-robot system needs to solve a series of problems such as path planning,task assignment,collision avoidance strategy and so on.Therefore,it is very important to study the path planning and coordinated control strategy of multi-robot on steel wall.Aiming at the situation of insufficient operation ability of large wall single robot,this paper puts forward the solution of multi-robot operation,and expounds the advantages of multi-robot system and the problems that need to be solved.Based on the analysis of the different path planning methods between single robot and multi-robot,the whole area coverage path planning of multi-robot is studied,and the path planning method of multi-robot coverage on steel wall is determined.By analyzing the working environment of multi-robot on steel wall,the grid environment map is constructed.By dividing the environment area,the calculation methods of the walking cost and the operating cost of the robot are determined.Based on the analysis of robot positioning technology,possible collision and system communication,the positioning method,collision avoidance strategy and communication mode of the robot are determined.The problem of multi-robot task assignment in steel wall is studied.The mathematical model of task assignment in target area is established.The multi-robot path planning scheme is designed and the task assignment algorithm is improved.The appropriate path planning method is selected to solve the full coverage problem in the free area and the target area.The processing method of the faulty robot in the operation process is analyzed and discussed.The path planning algorithm is simulated and analyzed,and the feasibility of the algorithm is verified.On the basis of theoretical analysis,a steel wall multi-robot control system is designed.Three intelligent vehicles are used to simulate the path planning experiment of steel wall multi-robot,and the correctness of path planning and control strategy is verified.