Method for additionally arranging path obstacles for multi-robot path planning

Abstract

The invention relates to a method for additionally arranging path obstacles for multi-robot path planning. The method comprises the following steps of broadening a path planned by a previous path to an obstacle area O to obtain a route; when no intersection point exists between a head and O, indicating that the head can pass through; otherwise, arranging the projection values of the head and the Oon the x axis from small to large, and taking a judgment interval; storing the points of the values of the abscissas of all the points in the row and the previous path in the interval into a set B and a set C respectively, connecting the points at the two ends in the set C to obtain a line segment D, expanding to obtain Oi, judging according to the positions of the points in the set B and the Oi,and eliminating the path row if the points in the set B intersect with the Oi. The path planned last time is widened into an approximate wide curve composed of a plurality of rectangles, the approximate wide curve is an obstacle O, and no intersection point exists between the next robot and O during path planning. According to the method, the passable area can be effectively protected, a more favorable feasible area is provided for path planning of the subsequent robot, and the advantages of the subsequent robot in path planning are guaranteed.

Description

technical field

[0001] The invention relates to the technical field of non-electric variable control or regulation systems, in particular to a method for adding path obstacles for multi-robot path planning. Background technique

[0002] The purpose of path planning is to plan a collision-free path from the starting point to the goal point in the space of the given starting point and goal point.

[0003] In the field of multi-robot path planning, there are two main types of existing methods for avoiding robot collisions, one relies on the robot’s own hardware recognition, and the other is a central processing method, including classic path planning algorithms based on graph theory, such as DFS , BFS, Dijkstra, Astra, etc., while intelligent path planning algorithms include ant colony algorithm, genetic algorithm, fuzzy algorithm, etc.

[0004] In the existing technology, the central processing method mainly adopts adding circular obstacles or adding rectangular obstacles to ...

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