Path Planning of Multiple Mobile Robots Based on Collision Detection in a Disassembly Cell

摘要

In order to enable multiple mobile robots to efficiently complete operations in a collision-free human-robot collaborative environment, this paper proposes a mathematical model and algorithm for multi-robot path planning in a disassembly cell. The algorithm takes the disassembly task assignment matrix and task attributes as input and uses the improved ant colony algorithm to carry out static path planning for robots. It is worth noting that due to the uncertainty brought by workers, this paper uses random numbers to simulate the range of worker activities. Under the premise of fully considering the safety of workers, combined with algebraic methods, we perform collision detection on the places where collisions may occur. The collision detection algorithm mainly relies on the Segre characteristic to determine the positional relationship between two three-dimensional quadric surfaces. According to the collision detection results and combined with the task priority, two obstacle avoidance strategies are proposed. The simulation results show the superiority of the improved ant colony algorithm and the feasibility of the overall algorithm.