Research On Cooperative Positioning And Path Planning Of Warehousing Robots

With the rapid development of the logistics industry today,the demand for labor is increasing day by day.The use of warehousing robots can effectively reduce labor costs and improve logistics efficiency.However,the traditional positioning of warehouse robots requires the laying of a large number of auxiliary equipment,and the system has poor flexibility and high cost.This paper proposes a robot cooperative positioning method to improve the positioning accuracy through information interaction and cooperation between robots.Aiming at the congestion and collision problems caused by multi-robot operations,an optimized path planning algorithm is proposed to enable the warehouse robot to achieve efficient and intelligent autonomous movement in a specific space.The main research contents of this paper are as follows:1.In order to solve the problem that indoor robots will receive nonline-of-view signals in remote locations or poor signal locations,a cooperative localization algorithm(GPSO)based on the fusion of genetic algorithm and particle swarm optimization algorithm(PSO)is proposed in wireless sensor network environment,and it is verified by simulation and comparison with PSO algorithm.Simulation results show that the positioning accuracy of GPSO algorithm is better than that of classical PSO algorithm.2.Aiming at the collision problem caused by multiple robots working at the same time in the intelligent warehousing system,a multi-robot dynamic path planning algorithm based on the reservation grid is established.With the help of the reservation grid and the directed graph,the collision of robots is avoided,and at the same time A traffic congestion map is generated,which reflects the current congestion situation of the warehouse map in real time,and an optimized A*algorithm is proposed to perform dynamic path planning for multiple robots,so as to solve the problem of robot traffic congestion and effectively improve the efficiency of the system.Finally,through simulation experiments,the proposed method is compared with the traditional method,and the effectiveness of the multi-robot path planning method is verified.3.A three-dimensional real-time monitoring system is developed for the warehouse robot system,and the effectiveness of the collaborative positioning and path planning algorithms is tested and verified.Through the three-dimensional visual display on the network side,the working status of the robot can be displayed in real time and in all aspects.It realizes the monitoring function of the storage robot,reduces the hidden risks of the storage system,and realizes the more efficient and stable operation of the robot.In the analysis of this paper,with the help of indoor co-location algorithm and multi-robot path planning algorithm,the collision problem of warehouse robot precise positioning and multi-robot operation is effectively dealt with.The algorithm is then verified by a threedimensional real-time monitoring system,which can present the working situation of the robot in real time,and plan the path of the robot,which improves the overall work efficiency and economic benefits of the storage system.