计算机工程与应用 ›› 2021, Vol. 57 ›› Issue (23): 287-294.DOI: 10.3778/j.issn.1002-8331.2005-0286

• 工程与应用 • 上一篇    下一篇

基于时间窗模型的双向机器人路径规划方法

王琛,茅健   

  1. 上海工程技术大学 机械与汽车工程学院,上海 201620
  • 出版日期:2021-12-01 发布日期:2021-12-02

Path Planning Method of Bidirectional Robot Based on Time Window Model

WANG Chen, MAO Jian   

  1. School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
  • Online:2021-12-01 Published:2021-12-02

摘要:

随着智能化与自动化的发展,机器人应用越来越广泛;多机器人路径规划和协作问题就成为当前关注的焦点。针对以上问题,提出了一种改进的遗传算法。在初始化总群时,通过选择中点的相邻点扩大选择范围确保线路连续。通过种群适应度函数改进路径平滑度防止转向次数过多。为了防止遗传算法陷入局部最优解,通过轮盘赌的方法确保一部分非最优个体。在优化后的遗传算法基础上根据优先级顺序,并结合提出的时间窗模型,对冲突类型进行分类处理并制定对应的协调方案。仿真结果表明,该方法可以有效地解决多机器人的路径冲突问题,通过合理地规划线路提高系统效率。

关键词: 路径规划, 时间窗, 自动搬运, 机器人

Abstract:

With the development of intelligence and automation, robots are more and more widely used; multi-robot path planning and collaboration issues have become the focus of current attention. In response to the above problems, an improved genetic algorithm is proposed. When initializing the total group, the selection range is expanded by selecting the adjacent points of the midpoint to ensure the continuity of the line. The path fitness is improved by the population fitness function to prevent excessive turning times. Some non-optimal individuals are guaranteed through roulette, which can effectively prevent the algorithm from falling into the local optimal solution. Based on the optimized genetic algorithm, according to the priority order, combined with the proposed time window model, the conflict types are classified and the corresponding coordination plan is formulated. The simulation results show that this method can effectively solve the path conflict problem of multi-robots, and improve the system efficiency through reasonable route planning.

Key words: path planning, time window, automatic handling, robot