Multi-robot Path Planning Based On IVS Algorithm In Dynamic Environment

With the development of the times,mobile robot technology has been applied in many fields,and it becomes one of the focuses of scholars,especially widely used in the core content-path planning technology.In production,AGV used for material handling,including unmanned sorting cars and delivering robots in express sorting.Not only reduce the labor cost,but also improve the production efficiency,increase the turnover rate of goods or appliances.Due to dynamic environment of factory workshop and obstacles,it is difficult to study the path planning of mobile robots,especially the robot crowd.A topological model is established to simulate the running state of multi-robot in the workshop,and to improve the authenticity of multi-robot in dynamic environment.The Improved virtual spring algorithm(IVS)is used to solve the local minimum and GNRON problems in the path optimization process.Firstly,taking grid map as an example,the real workshop environment is simulated,the dynamic mechanical model of network interaction is established,and the network structure of multi-robot system with grid logic topology and physical topology is described.Secondly,aiming at the optimal path and the shortest time,an improved virtual spring algorithm with high search efficiency,strong obstacle avoidance ability and good environmental adaptability is proposed to plan the multi-robot path planning system as a whole and avoid obstacles locally.At the same time,based on the network model,effective heuristic rules are established,and an optimal path with few obstacles is re-planned on the calculated path according to the motion attributes of dynamic obstacles themselves Finally,this method is simulated and compared with traditional virtual spring algorithm and dynamic A*algorithm by Matlab,and the effectiveness of IVS algorithm for multi-mobile robot path planning system is verified from the actual demand.