摘要
为了分析并提升多机器人协作分拣系统的效率,构建了其仿真模型并提出对应的路径规划与避碰交通管理方法。首先根据多机器人协作分拣流程,构建了对应的仿真模型;然后,为了提升多机器人路径分布的均衡性,提出了一种多目标优化路径规划算法;其次,设计了一种基于栅格点动态分配的交通管理方法以兼顾多机器人间的避碰及作业区共享需求;最后,利用构建的仿真模型对提出的方法进行分析,仿真结果表明所提出的多目标优化路径规划算法,能够显著提升多机器人路径分布的均衡性,从而提升多机器人系统的分拣效率。
In order to analyze and improve the efficiency of the multi-robot cooperative sorting system,a simulation model was constructed,and the corresponding path planning and collision avoidance traffic management methods were proposed.Firstly,according to the multi-robot cooperative sorting process,the corresponding simulation model was constructed.Then,in order to improve the equilibrium of path distribution of multi-robot,a multi-objective optimal path planning algorithm was proposed.Secondly,a traffic management method based on dynamic allocation of grid points is designed to take into account the collision avoidance and working area sharing requirements of multiple robots.Finally,the simulation model was constructed to analyze the proposed method.The simulation results show that the proposed multi-objective optimal path planning algorithm can significantly improve the balance of multi-robot path distribution,thereby improving the sorting efficiency of multi-robot system.
作者
秦德金
周临震
肖海宁
QIN De-jin;ZHOU Lin-zhen;XIAO Hai-ning(School of Mechanical Engineering,Jiangsu University,Zhenjiang Jiangsu 212013,China;School of Mechanical Engineering,Yancheng Institute of Technology,Yancheng Jiangsu 224051,China)
出处
《组合机床与自动化加工技术》
北大核心
2021年第10期139-142,146,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金资助项目(52005427,11702240)
江苏省高校自然科学基金资助项目(19KJB510013,18KJA460009)
江苏省产学研合作项目(BY2019236)。
