Path Planning Of Multiple Mobile Robots Considering Collision Avoidance In Human-Robot Cooperative Disassembly

Remanufacturing is an emerging industry in the 1990 s.In recent years,as my country’s resource shortages and environmental issues have become increasingly severe,automatic disassembly has received increasing attention.In order to ensure that the robot can work efficiently in a complex working environment,collision detection and path planning are two crucial links.At present,in the existing research on robot path planning,most researchers ignore the particularity of the robot working environment and do not consider the inherent attributes and the position relationship of the object to be disassembled.In fact,in the human-robot cooperative disassembly cell,due to the state of workers and the simultaneous movement of multiple robots,there may be a collision between robots or between people and robots.In view of the above problems,this paper deeply studies the mathematical model and algorithm of robot collision detection.On this basis,combined with the directionality of the object to be disassembled,this paper puts forward the mathematical model and algorithm of multi-robot path planning in a human-robot cooperative disassembly cell.The main research contents are as follows:(1)Research on collision detection and collision avoidance of robots based on algebraic method.Aiming at the problem of overreliance on high-precision sensors in collision detection,a collision detection algorithm based on the algebraic method is proposed in this paper.The three-dimensional modeling of the environment is carried out,and the AABB packing box method is used to model the robots and workers in the cell.The moving trajectory of the research object is regarded as a quadric surface in three-dimensional space,and the Segre eigenvalue is used to judge whether there will be a collision and the location of the collision.At the same time,the collision situation is classified from the perspective of kinematics,and the corresponding collision avoidance strategy is proposed.The effectiveness of the strategy is verified by the experiments.Finally,a robot collision detection algorithm based on the algebraic method is proposed.The feasibility of the algorithm is verified by MATLAB to ensure that the algorithm can effectively avoid the collision caused by multiple robots working with workers at the disassembly cell.(2)Research on path planning of multi-mobile robots in human-robot collaborative disassembly.In the actual unit,there may be multiple robots performing corresponding subtasks at the same time,which will cause the problem of path collision between the robot and the worker or another robot.Therefore,this paper proposes a multi-task path planning algorithm for multiple mobile robots based on kinematics and task priority.Combined with the characteristics of the man-machine cooperative disassembly cell,the mathematical model of multi-task path planning of multiple mobile robots is established,and the corresponding assumptions are made.For robotic path planning,taking the shortest path length and the minimum number of turns as the goal,an improved ant colony algorithm is proposed,and the advantages of the improved algorithm are verified by comparative experiments.In the man-machine cooperative disassembly cell,each time the robot performs a single sub-task,it needs to update the robot position,obstacle position,and task priority.Combined with the mathematical model of multiple robotic path planning,a path planning algorithm for disassembly robots is proposed to guide the safe and efficient completion of the disassembly robots in the disassembly cell.(3)Design of multi-mobile robot path planning prototyping system considering collision avoidance and algorithm verification.Based on the path planning algorithm of multiple mobile robots in the human-robot cooperative disassembly cell proposed in this paper,in order to help robots perform their tasks in the actual disassembly cell,the paper designs a prototype system,that includes a database entry module,optimal path of the robots display module and collision detection and analysis module.Finally,the system verifies the effectiveness of the algorithm proposed in this paper.