Computer Engineering and Applications ›› 2021, Vol. 57 ›› Issue (23): 287-294.DOI: 10.3778/j.issn.1002-8331.2005-0286

• Engineering and Applications • Previous Articles     Next Articles

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



  1. 上海工程技术大学 机械与汽车工程学院,上海 201620


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



关键词: 路径规划, 时间窗, 自动搬运, 机器人