关键词: 多机器人系统, 协同路径规划, 智能仓库, 动态加权地图

Abstract: To solve the multi-robot cooperative path planning of intelligent warehouse,a dynamic weighting map based on improved A* algorithm combined with traffic regulation and reservation table was proposed.The reservation table of central control system was produced in a centralized way,which could avoid collision between robots.At the same time,the dynamic weighting map was generated with reservation table,which could solve the congestion problem between robots.By using the distributed control method,robots implemented cooperative path planning efficiently with improved A* algorithm,reservation table and dynamic weighting.The effectiveness of the proposed method was proved by simulation examination.

Key words: multi-robot system, cooperative path planning, intelligent warehouse, dynamic weighting map