Research On Multi-robot Path Planning Based On Artificial Moment Method Tending To Low Unknown Risk

In recent years,the rapidly-developing robot technology has been applied in industrial,military,medical and other fields.As an important part of robot technology,robot path planning has always been a hot issue for experts and scholars at home and abroad.Among many other path planning algorithms,the artificial moment method has the advantages of simple computation,strong real-time performance,and good path planning effect,but in the multi-robot path planning problem,as the number of the robots increases,the artificial moment method tends to make the robots cluster and affects the quality of the solution.Studies aiming to the issue are carried out in this thesis,and the main work are as follows.1.On the issue of the artificial moment method for multi-robot path planning tends to make robots cluster,which affects the quality of the solution,the concept of the robot path risk is proposed,and the relationship between the robot path risk and the system parameters is analyzed;in order to reduce the robot path risk,the prevention strategy for the robot path risk is designed,and if there are robots in the system that meet the set conditions,the robots will execute the risk prevention strategy;the determination methods for path modification point and path intervention point in the risk prevention strategy are given,and the robots update the local target points according to the path modification point and path intervention point;in order to make the robots reach the local target point safely,the safety strategies for the robot movement are designed,including the safety strategies for robot movement from the current position to the path modification point,from the path modification point to the path intervention point,and from the path intervention point to the path recovery point.2.In order to realize the designed risk prevention for multi-robot path planning,the motion algorithm for controlling the robots is decoupled into the multi-robot artificial moment method and the multi-robot artificial potential field method based on task assignment,where the control objects of the artificial moment method are the robots in the system that do not execute the risk prevention strategy and the process of robots that execute the risk prevention strategy moving to the corresponding path recovery point;the control objects of the multi-robot artificial potential field method based on task assignment are the process of robots that execute the risk prevention strategy moving from the path recovery point to the system target point.On this basis,the multi-robot path planning algorithm of the artificial moment method tending to low unknown risk is proposed with the integration of the designed prevention strategy for robot path risk,safety strategy,the multi-robot artificial moment method,and the multi-robot artificial potential field method based on task assignment,and the procedures of the algorithm are given.3.Simulation analysis are carried out on the Matlab platform to verify the feasibility and effectiveness of the designed algorithm.The simulation results show that the designed algorithm can serve to reduce the path risk of the robots and improve the quality of the solution compared with the artificial moment method.