Research On Dynamic Path Planning Method Of Multiple Mobile Robots Based On Fusion Algorithm

At present,path planning in the field of mobile robots is for sure a well-deserved hot spot.Compared with traditional single robot,multiple mobile robots have unparalleled advantages in many fields,such as agriculture,industry,medicine,military,and aerospace.Cooperation and coordination can accomplish many complex tasks in parallel,thereby improving the performance and work efficiency of the system,and enhancing the flexibility and robustness of the system.The coordination and cooperation problems in the path planning of multiple mobile robots,and the realization of obstacle avoidance behaviors of robots in unknown environments are the focus and difficulty of current robot navigation technology.In the process of being applied,the robot is often used in some unknown and unfamiliar environment.At this time,because the robot system does not retrieve a priori knowledge of the space,it can only use sensors to detect the surrounding environment in real time.In this thesis,the robot has the ability of detection,perception and communication.In the process of moving from their initial positions to their respective target positions,not only obstacles and other robots can be avoided in real time,but also the optimal trajectory can lead robots to their target positions.The research content of this thesis mainly focuses on the following three aspects,namely,how to make a single robot avoid obstacles better,how to integrate path planning algorithms,and how to coordinate behaviors of multiple robots.(1)This thesis models the working environment map of the multi-robot system,defines the working area of the robot,discretizes the operating environment of the system based on the grid method,and specifies the robot's perception range(rolling window)and movement direction.This thesis describes the offline heuristic algorithm and search process of a single robot.However,the offline planning method has certain shortcomings.If it is assumed that the obstacle is placed on the robot's movement route in advance,the robot has difficulty to adjust its movement direction in time because its course has been preset at this time.Obstacles cannot be avoided,so the entire system will be in an inoperable state.This thesis proposes a new real-time heuristic algorithm,which can make the robot move to the target point in an unfamiliar static environment at the lowest cost.The algorithm has been programmed for the sake of simulation.(2)For robot trajectory planning in an unknown dynamic environment,a new fusion algorithm combining dynamic artificial potential field and A* algorithm is proposed and applied to a rolling window-based rolling planning framework,and a single robot trajectory planning simulation is performed on this algorithm.The simulation results show that in the process of trajectory planning,the use of a new fusion algorithm can effectively solve the problem of a single robot avoiding dynamic and static obstacles in a dynamic and unknown environment.(3)Aiming at the coordination problem between multiple robots,this article gives the description and characteristics of the path planning problem of multiple robots;analyzes the scenes of collisions between robots,and also proposes collision avoidance coordination strategies and predictive coordination strategies,which constitute the collaborative path planning strategy of multi-robot in this thesis;by introducing a robot coordination between the collision avoidance link to improve the rolling planning based on rolling window frame has been distributed multi-robot coordinated control method based on rolling window,this thesis puts forward a new fusion algorithm can be applied to distributed multi-robot coordinated control method based on rolling window under the solve the problem of the collision between multiple robots,the adoption of distributed online trajectory planning,thus overcome the centralized offline programming way exist the problem of poor real-time performance and robustness,has realized the multi-robot cooperative trajectory planning in unknown dynamic environment;Finally has carried on the multi-robot cooperative trajectory planning simulation,the simulation results show that the method proposed by this thesis can make the robot in unknown dynamic environment from the initial position to the optimal trajectory to the target location,and real-time evaded environment of static and dynamic obstacles and other robots,task to complete the optimal efficiency of the system,verify the correctness and validity of the algorithm.