Distributed Multi-Mobile Robot Path Planning and Obstacle Avoidance Based on ACO–DWA in Unknown Complex Terrain

• DOI: 10.3390/electronics11142144
• Publication Date: 2022-07-08T15:37:08Z
• Authors: Qian Wang; Junli Li; Liwei Yang; Zhen Yang; Ping Li; Guofeng Xia
• Keywords: Obstacle avoidance

Multi-robot systems are popularly distributed in logistics, transportation, and other fields. We propose a multi-mobile robot obstacle-avoidance algorithm to coordinate the path planning motion navigation among multiple robots between unknown territories. This fuses ant colony optimization (ACO) dynamic window approach (DWA) multi-robot system through priority strategy. Firstly, ensure optimality of complex terrains, we proposed dual-population heuristic functions sort pheromone update strategy enhance search capability ACO, globally optimal is achieved by redundant point deletion Considering robot’s path-tracking accuracy local target unreachability problems, an adaptive presented. Furthermore, obstacle density evaluation function improve decision-making difficulty high-density environments modify coefficients adaptively combining environmental characteristics. Finally, robots’ conflict resolved our avoidance strategies. The experimental results show that this can realize cooperative AGVs with high safety global optimality, which provide technical reference for practical applications.