| Popis: |
To solve the problem that the single robot task execution capability is not enough to meet the whole handling task demand under complex conditions, the hybrid path planning models such as multi-robot path planning and formation cooperative control considering obstacle avoidance are studied. Firstly, for the robot global path finding problem, on the basis of the construction for a robot working environment model based on the geometric map model building method, an improved particle swarm algorithm-based global path planning model is proposed to solve the problems of low robot path planning solution efficiency and easy to fall into local optimal solutions. Secondly, for the multi-robot cooperative formation control and obstacle avoidance and inter-robot collision avoidance problems, a multi-robot formation local path planning model based on the improved artificial potential field method is constructed, a simulated annealing algorithm is introduced to optimize the traditional artificial potential field method, and a multi-robot formation control strategy, robot obstacle avoidance, and inter-robot collision avoidance methods are designed in combination with the pilot-following method to improve the robot formation path exploration The proposed method can improve the path exploration capability and handling efficiency of robot formation. Finally, the global path planning model of the robot based on the improved particle swarm algorithm is simulated and analyzed using Matlab 7.0 to verify the outstanding performance of the model in pathfinding capability. Then the local path planning model of multi-robot formation based on the improved artificial potential field is simulated and analyzed to verify the improved algorithm has good path planning as well as obstacle avoidance performance. The hybrid path planning model is applied to a real case and simulated, and the results show that the improved algorithm improves the exploration capability of the robot formation, effectively avoids obstacles, and verifies its reliability and superiority in the hybrid path planning process. |
