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Study on Multi-robots Path Planning Based on Agent Theory

Author: WangFan
Tutor: TanYueGang
School: Wuhan University of Technology
Course: Mechanical and Electronic Engineering
Keywords: Multi-robot Path planning Agent Artificial potential field method Genetic Algorithms
CLC: TP242
Type: Master's thesis
Year: 2006
Downloads: 321
Quote: 5
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Abstract


Advances in technology development, robotics is also rapidly forward, the robot's ability to continuously improve, expanding applications. Wide tasks (such as the distribution in time and space) can not afford a single robot, and the emergence of multi-robot came into being because there are a lot of work. More and more examples of dynamic and complex task, the development of a single robot than the development of multiple robot systems are complex and expensive. The same time, with the emergence of robot production lines and flexible manufacturing system needs, people want to make a multi-robot systems increasingly strong desire to own job, these needs are promoting robotics towards the development of multi-robot cooperative research direction. The path planning is a prerequisite for rational and efficient multi-robot tasks, it improve the work efficiency of the robot is crucial. How to choose a reasonable or even optimal path is a very important research topic. Multi-robot path planning for multi-robot systems, to find a path for each robot in the same space, and to ensure that every moment between the robot and the robot without collision, no collision between the robot and the environment. In this paper, based on multi-agent theory robot path planning technology. This paper first introduces a multi-robot systems, multi-agent theory (MAS) and the characteristics of multi-robot system based on MAS and its development status, and then introduces the multi-robot path planning methods, highlighted as the multi-robot path planning research focus Several planning methods, explain their advantages and disadvantages. Subsequently, in response to the problems of traditional algorithms deadlocks encountered in dealing with multi-robot path planning, obstacle avoidance, path planning method based on improved artificial potential field method. This method is based on the traditional single fixed artificial potential field thinking, in accordance with uniform rules on the basis of attractive and repulsive forces increase the robot rotational force, so there is a risk of collision of multiple robots turn right (or left), avoids obstacle avoidance deadlock problem. Subsequently, simulation and analysis environment has four robot using improved artificial potential field made a path planning, and pointed out that the method is likely to cause a lack of \The drawbacks of this method, and then propose another path planning method based on hybrid algorithm. The method for each robot as an Agent, Agent can take the initiative to identify the nature of the obstacles in the environment. Do global planning for multi-robot safe distance less than the distance between the forward process if the robot using a genetic algorithm, the improved artificial potential field method for obstacle avoidance until detachment risk of obstacle avoidance. Then made the simulation and analysis of the algorithm. The simulation results show that the path planning method based on hybrid genetic algorithm based on improved artificial potential field method has improved in the time and path. Prospects for the deficiencies of the two algorithms work in the future.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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