Computing Algorithm of Robot Distributed 3D Graphic Simulation System. Issue 2 (June 2021)

• Record Type: Journal Article
• Authors: Cao, Junkai; Gao, Zhijun; Han, Zhonghua
• Is Part Of: Journal of physics. Volume 1952:Issue 2(2021)
• Publication Date: 2021-06
• Subjects: Robot -- 3D graphics simulation -- particle swarm algorithm -- path planning -- spatio-temporal algorithm; Physics -- Congresses; 530.5
• DOI: 10.1088/1742-6596/1952/2/022075
• Languages: English
• ISSNs: 1742-6588

Abstract

Abstract: In view of the shortcomings of current multi-robot path planning strategies, such as high path coupling, long total path, and long waiting time for collision avoidance, as well as the resulting problems of low system robustness and low robot utilization, the paper proposes Multi-robot path planning particle swarm algorithm based on distributed three-dimensional space-time graphics and motion decomposition. We first generate a dynamic temporary obstacle in the time dimension according to the existing path set and the current robot position, and expand it together with the static obstacle into a three-dimensional search graphics space. Secondly, in the three-dimensional image space, the total path movement time is divided into three parameters: movement time, turning time and staying time in place, and using the conditional depth-first search strategy to calculate all the matching parameters from the starting node to the target node the required path collection. The experimental results show that the path of distributed 3D graphics planning by our proposed particle swarm algorithm has the advantages of total length, less running time, system collision-free, and high robustness, which solves the problem of multi-robot systems completing continuous random tasks.