Research On Optimal Method Of Targetaccessibility Of Warehouse Mobile Robot Indynamic Environment

With the development of intelligent warehousing logistics,warehousing mobile robot technology has become one of the research hotspots at home and abroad,which is expected to promote the revolutionary development of the existing warehousing logistics system.However,at present,the key constraints of the working inefficiency of warehousing mobile robots include: first,the stability of mobile robot motion is insufficient,which can easily lead to the dumping or sliding of goods delivered,resulting in job interruption or repetition.Second,the global path and local path planning in dynamic multi-barrier scenarios are prone to fall into the local optimal solution,while more path inflection points lead to lower path smoothness,which restricts the target reachability of robots.Aiming at the above core problems,starting from two aspects of robot motion control and path planning,the key technologies of robot motion stability,global/local path planning and dynamic obstacle avoidance are solved to provide a theoretical basis for improving the target accessibility of mobile robot in dynamic storage environment.The main research contents are as follows:Firstly,an improved PID controller based on fuzzy immune algorithm is constructed to improve the instantaneous motion stability of the robots.By adaptively tuning the parameters of the PID controller,the control performance of the control system is improved,which lays a foundation for improving the target accessibility of the mobile robots.The experimental results showed that the fuzzy immune PID controller can reduce the speed overshoot of mobile robot and improve the motion control accuracy and motion stability of mobile robot.Secondly,a local path planning algorithm based on fuzzy adaptive dynamic approach(FADWA)is proposed to improve the local obstacle avoidance performance of mobile robots in dynamic scenarios.By combining fuzzy control with DWA,the adaptive adaptation of model weight is realized,and the coupling problem of obstacle avoidance ability and target points reachability of mobile robots is effectively coordinated.The experimental results showed that the adaptability of mobile robots to the environment,obstacle avoidance ability and target reachability are greatly improved by using the FADWA.Finally,a hybrid path planning method based on dynamic and static double target points search is proposed to solve the shortage of global path planning and local obstacle avoidance for mobile robots.By setting each path point of the global path to the dynamic target points,the final target point to the static target point,the model of FADWA is improved to the heuristic model of binocular punctuation to realize the fusion of the shortest global path and the local dynamic obstacle avoidance ability.The experimental results showed that the hybrid path planning algorithm for dynamic and static double-target search has the advantages of global planning path optimization,real-time obstacle avoidance and high target point accessibility.To sum up,the proposed motion control algorithm of mobile robots,global/local path planning algorithm is of great significance and application value to promote the development of the technologies of warehousing mobile robots.