Research on distributed multi-robot motion planning based on ant colony algorithm fusion dynamic window approach
To better coordinate the motion of distributed multi-mobile robots in dynamic environments,this paper constructs a multi-robot system based on a mixture of ant colony algorithm and dynamic window approach and uses a priority strategy to resolve motion conflicts.First,to improve the optimal global performance of multi-robot paths,we propose a multi-indicator optimization-seeking heuristic function and a pheromone update strategy to enhance the optimization capability of the ant colony and further improve the path quality through a redundant point deletion strategy.Secondly,the robot kinematic model is constructed based on a mixture of the ant colony and dynamic window approach,and an adaptive navigation strategy is proposed to improve the local motion of the robot in an unknown environment.Finally,the single-robot obstacle avoidance strategy and the multi-mobile robot prioritization strategy are combined to reduce the multi-robot path planning to a dynamic path planning problem for a single mobile robot.Experimental simulation results show that the proposed method can realize the cooperative obstacle avoidance of the multi-mobile robot system in an unknown environment with high safety.
万方数据
维普
