A Algorithm of Path Planning Based on Multiple Mobile Robots

摘要

The environment of automated warehouse is complex. Path collision exists conflict between intelligent robot with unknown obstacles and intelligent mobile-robot, increasing the difficulty in multiple mobile robots path planning.To solve the problem, firstly working environmental model is established with traffic rules method and the grid method. Then the whole system adopts the idea of hierarchical cooperation for dynamic local and global path planning.By simulation this method is suitable for dynamic environment with known and unknown obstacles and effectively solve the problem of path planning for multiple mobile robots in automated warehouse.