Multi-robots dynamic path planning based on improved A* algorithm

Abstract

Abstract Intelligent warehousing based on multi-robot system has become the main solution to improve the efficiency of logistics warehousing. At present, the research on intelligent warehouse multi-robots system mainly focuses on task allocation, obstacle avoidance and path planning. In order to solve the traffic congestion problem caused by multiple robots working at the same time in an intelligent warehouse system, a dynamic path planning algorithm for multiple robots based on reservation grid was proposed. Firstly, the collision between robots is prevented by the method of reservation grid and directed graph. Then, the reservation grid is used to generate the traffic congestion map, which displays the congestion status of the current warehouse map in real time. Finally, by improving the A* algorithm, the dynamic path planning of multiple robots is realized, the traffic congestion problem between the robots is solved, and the system efficiency is improved. Simulation experiments are conducted to compare the proposed method with the traditional method, and the effectiveness of the multi-robot path planning method is verified and The range of task allocation parameters under the optimal operating efficiency is tested.