Hybrid Path Planning Model for Multiple Robots Considering Obstacle Avoidance

To solve the problem that single robot task execution capability is not enough to meet whole handling demand under complex conditions, hybrid path planning models such as multi-robot and formation cooperative control considering obstacle avoidance are studied. Firstly, for global finding problem, on basis of construction a working environment model based geometric map building method, an improved particle swarm algorithm-based proposed problems low solution efficiency easy fall into local optimal solutions. Secondly, inter-robot collision problems, artificial potential field method constructed, simulated annealing algorithm introduced optimize traditional strategy, avoidance, methods designed in combination with pilot-following improve exploration The can formation. Finally, analyzed using Matlab 7.0 verify outstanding performance pathfinding capability. Then has good well performance. applied real case simulated, results show improves formation, effectively avoids obstacles, verifies its reliability superiority process.