OBSTACLE AVOIDANCE PATH OF WHEELED AGRICULTURAL HANDLING ROBOTS IN WAREHOUSE BASED ON IMPROVED ACO-DWA ALGORITHM

摘要

The existing obstacle avoidance control algorithms for wheeled agricultural warehouse handling robots are prone to the local optimal solution in the process of path optimization and collision can occur easily occur during multi-robot simultaneous operation. Given this, the obstacle avoidance of wheeled agricultural warehouse handling robots was explored in this study, and an obstacle avoidance path planning algorithm for wheeled agricultural handling robots in warehouse based on improved ACO-DWA algorithm was proposed. Then, the moving trajectory of agricultural warehouse handling robots during handling process was studied, and their spatial kinematics equation was given. Next, the real-time pose of agricultural warehouse handling robots was detected, and their motion path was planned considering the real-time position of obstacles and the target locations of handling. In addition, the obstacle avoidance controlling quantity of agricultural warehouse handling robots was calculated according to the deviation between the pose of robots and the planned path. Supported by a controller, the obstacle avoidance control work of agricultural warehouse handling robots was realized. It was concluded through the effect experiment that compared with the traditional method, the improved ACO-DWA algorithm designed in this study significantly reduced the number of collisions between agricultural robots, and through practical application, the proposed algorithm can meet the needs of improving warehouse logistics management efficiency.