| With the development of China’s economy,people’s shopping level has gradually improved.The traditional warehouse can not meet the current requirements of storage efficiency.The intelligent warehouse based on intelligent robot has received extensive attention in the logistics industry.The collaborative path planning of multiple robots in the warehouse has become a key technology to be solved.This paper mainly studies the path planning algorithm of multi robots in intelligent warehouse,and puts forward a solution to the problem of collision and obstacle avoidance between multi robots in intelligent warehouse.(1)The modeling method of intelligent warehouse is studied.According to its structural characteristics,the structural model of intelligent warehouse is established by using grid map method.The workflow of robot in intelligent warehouse is determined.(2)In view of the problem that the A* algorithm has a large number of search nodes and a large number of turns in the search path,based on the traditional A* algorithm,the cost function is improved,the proportion of actual cost and estimated cost in the cost function is changed,and the turn cost is added.Through the comparison of simulation experiments,the improved algorithm has higher search efficiency and the smoothness of path has been improved.(3)Aiming at the problem of collision and conflict between multiple robots in intelligent warehouse,a dynamic cooperative A* algorithm based on the combination of multiple strategies based on directed graph,priority,reservation table and optimal time path is proposed.The strategies of directed graph,priority and reservation table can effectively avoid the collision and conflict between robots,and the strategy of shortest time path can find the shortest time-consuming path for robots on the basis of solving the conflict problem,The local path planning problem of multi robot is effectively solved.(4)The multi robot path planning simulation system of intelligent warehouse is established by using MATLAB.The total distance and total time consumed by the strategy of combining the traditional A* algorithm with the improved A* algorithm with directed graph,priority,reservation table and optimal time path are counted and analyzed under the condition of completing the same task.Experiments show that the dynamic cooperative A* algorithm proposed in this paper can effectively reduce the time of robot executing tasks and improve the work efficiency of robots in the warehouse. |
