Research on path planning of multi-warehouse robots based on ISO-TW algorithm
To solve the low efficiency and insufficient dynamics of cooperative planning of multi-warehouse robots in current intel-ligent warehouses,a path planning method combining Improved Snake Optimizer(ISO)and Time Window(TW)model was pro-posed.Firstly,in the static planning stage,the improved snake optimizer considering the blocking factor was used to plan the glob-al optimal path for multi-warehouse robots,and the time window of each robot was calculated,so as to improve the planning effi-ciency of warehouse robots.Secondly,in the dynamic planning stage,the time window model of multi-warehouse robots was estab-lished and dynamic adjustment strategy was introduced to resolve conflicts and improve the dynamic performance of the algorithm.Finally,simulation and experiments were conducted,the simulation results showed that the ISO-TW algorithm could re-duce the number of blocking points by up to 27～43 compared to other algorithms with a reduction of 22.50％～31.62％(with a robot size of 80).The proportion of replanned paths could be reduced by 39.82％～41.05％(with a robot scale of 40).The average running time could be shortened by up to 38～40 s with a reduction of approximately 18.27％～19.05％(with a scale of 60 robots).Experimental results showed that the ISO-TW algorithm reduces the average running time by 8.53％～9.23％and the number of conflicts by 11.63％～15.56％compared to other algorithms.It could achieve efficient collaborative planning of multi-warehouse robots in real scenarios.
万方数据
维普
