Research On Path Planning Of Multi-mobile Robots In Dynamic Environment

Mobile robot path planning is an important research direction in the field of robotics,and multi-robot path planning has always been the focus and difficulty.When robots face complex and tedious tasks,the advantages of multi-robot systems such as high efficiency and robustness emerge.This paper mainly studies the problem of path planning for multiple robots simultaneously in a dynamic environment.This paper will expand from the following aspects,the specific content is as follows:Firstly,an improved ant colony algorithm is proposed in the study of global path planning in static environment.The algorithm solves the problem that ants are prone to deadlock by introducing an improved back-off strategy.By proposing a new pheromone reward and punishment mechanism and dynamically adjusting the pheromone enhancement coefficient,the overall convergence speed of the algorithm is improved.Secondly,in the study of single robot path planning problem in dynamic environment,by introducing the principle of rolling window,the motion state of dynamic obstacles in the window is judged,and two different obstacle avoidance strategies are proposed respectively.The robot first uses the improved ant colony algorithm for global path planning,and then predicts whether the robot will collide with dynamic obstacles by rolling the window,so as to avoid local obstacles,and finally plan a collision-free optimal path,and finally in the simulation The platform verifies the effectiveness of this bilevel programming algorithm.Finally,an in-depth study of multi-robot path planning in dynamic environments is carried out.Aiming at the types of collision conflicts that may occur between robots,two strategies for coordinating conflicts are proposed,namely the pause-waiting strategy and the local quadratic programming strategy.In order to simplify the complexity of the multi-robot problem,a dynamic priority rule is added to the path planning of a single robot in a dynamic environment.According to the different collision types between robots,the simulation verification is carried out in the simulation platform.The results show that each robot successfully completes its own path planning with a small path cost.