Path Planning for Yarn Changing Robots Based on NRBO and Dynamic Obstacle Avoidance Strategy

摘要

To address the shortcomings of traditional bionic algorithms in path planning, such as inefficient search processes, extended planning distances and times, and suboptimal dynamic obstacle avoidance, this paper introduces a fusion algorithm called NRBO-DWA. This algorithm is specifically applied to plan the path for a tube-changing robot in a knitting workshop. The process begins with spatial modeling based on the actual parameters of the workshop, followed by the development of a comprehensive, objective function for the robot in line with the relevant constraints. The NRBO algorithm is then integrated with the DWA algorithm to boost its dynamic obstacle avoidance capabilities, while a path correction mechanism is introduced to minimize unnecessary detours. Finally, a comparative experiment is designed to evaluate the algorithm against the GA, PSO, and SSA algorithms. Simulation results demonstrate that in a dynamically complex 3D environment, the NRBO-DWA algorithm outperforms in terms of higher 3D search efficiency, shorter total path length, and faster planning times.