多仓储机器人协同路径规划与作业避碰

Cooperative Path Planning and Operation Collision Avoidance for Multiple Storage Robots

针对多仓储移动机器人协同作业问题,提出了一种基于全局规划和局部调整的路径规划方法,以获得较短、无碰、避障的可行路径.在路径规划时根据当前节点到终点的距离和局部路径与起点至终点的欧氏路径的夹角设计新启发式函数,驱使机器人沿最短路行进;根据可选节点的数量提出避障规则,提高避障能力;依据路径长度对信息素进行比较更新,以精炼搜索空间、提高收敛性能,对蚁群算法加以改进寻找各自最优路径.在作业避碰时设计避碰规则有效解决仓储机器人间作业碰撞,找到最优或近优路径组合.实验结果表明了本方法的可行性、有效性.

For the collaborative operation of multi-storage robots,we propose a path planning method based on global planning and local adjustment to obtain a short feasible path free of collisions and obstacles.In the path planning,according to the distance from the current node to the end point and the angle between the local path and the Euclidean path from the start point to the end point,we design a new heuristic function which drives the robot to travel along the shortest path.According to the number of optional nodes,we propose the obstacle avoidance rules and improve obstacle avoidance ability.Based on the path length,we compare the pheromone and update it to refine the search space and improve the convergence performance.We also improve the ant colony algorithm to find the optimal path.We design the collision avoidance rules to avoid the collisions between warehouse robots and find the optimal or near-optimal path combination.The experimental results verify the feasibility and effectiveness of the method.