Research On Task Allocation And Path Planning Of Multi Robot For Material Supply In Discrete Assembly Shop

With the industrial transformation and upgrading,the demand for customization is rising,and the factory’s material demand is developing towards the direction of multi variety and small batch.Intelligent upgrading and transformation is a necessary strategy for the development of all walks of life.Especially in the assembly workshop of large-scale mechanical equipment,using multi robot cooperation to solve the problem of material supply in the workshop has important practical significance for the research and application of multi robot task allocation and path planning.Firstly,the basic theories of application task assignment,multi-robot system and path planning in assembly workshop are summarized and studied.And complete the overall scheme design of material distribution in discrete assembly workshop.The key is to provide the solution direction for future path planning by the task sequence generated by task allocation.Secondly,in order to solve the problem of local optimization in multi-robot task assignment in the workshop,a mathematical model with minimizing completion time as the main objective function is constructed,and an improved genetic algorithm based on hybrid simulated annealing is proposed.Considering the constraints of energy and loading capacity,the penalty function is introduced to ensure that the result of the algorithm is more realistic.Compared with the traditional genetic algorithm,the simulation results show that the improved algorithm is better and more suitable for solving the task assignment problem.Then,in view of the slow convergence speed of most algorithms in multi-robot path planning and the need to solve node conflicts,this paper uses the task sequence generated after task allocation to provide the initial solution for A* algorithm to improve the efficiency of shortest path search;A*algorithm based on backtracking method and time window waiting method is used to solve the path planning caused by node conflicts and obstacles due to environmental changes.Finally,combined with the actual production case of S company,the multi-robot system in discrete workshop is tested.The results show that the number of iterations of the task sequence generated by the multi-robot task allocation module studied in this paper is reduced;The following path planning algorithm has obvious effects of reducing the search running time and shortening the path length,and the practicality of the application is verified.