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

摘要： 为了解决智能仓库多机器人协同路径规划问题,提出一种交通规则和预约表下的基于改进A*算法的动态加权地图。首先通过集中控制方法生成预约表,然后利用预约表与交通规则防止机器人之间发生碰撞;然后利用预约表生成动态加权地图,解决机器人间的交通拥堵问题;最后通过分布式控制方法,利用改进的A*算法预约表和动态加权地图,实现多机器人的动态协同路径规划,达到了提高系统效率的目的。通过仿真实验验证了所提方法的有效性。

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