A Multi-robot Task Allocation and Path Planning Method for Warehouse System

摘要

To improve the efficiency of the traditional warehouse system, a multi-robot task allocation and path planning method for the warehouse system are designed according to the function of it. In the multi-robot task allocation, considering the impact of congestion on the task execution cost, the market auction algorithm which is improved makes the probability compensation of the task execution cost, and the overall path length of the multi-robot system to complete the task is optimized. Conflict search algorithm based on D*Lite plan paths for the multi-robot system, D*Lite algorithm as the lower algorithm provides the basic paths, and the upper algorithm introduces the constraint tree to constrain the collision problems of basic paths between robots, so as to obtain the shortest total running time and safe paths. The simulation results show that the designed multi-robot task allocation and path planning method can effectively improve the operating efficiency of multi-robot in the warehouse system.