Conflict Resolution and Real-Time Coordination Methods for Collaborative Trajectory Planning of Robot Swarms in Dynamic Warehouse Environments

Abstract

Trajectory planning has become an indispensable part of mobile robots performing tasks in smart warehouses. Multi-robot systems have been successfully applied in many application fields. In large warehouse robot cooperation scenes, Path planning and conflict solving are the key technical problems affecting system performance and stability. This paper systematically sorts out related papers on warehouse robots from home and abroad in the field of mobile robots. Firstly, the current situation of dynamic storage robot systems in recent years is summarized. The existing research on conflict resolution is analyzed from the two aspects of rule-based and optimization algorithms. For example, priority rules, improved a* algorithm, and various hybrid algorithms have been studied more in recent years. Lead out the methods of environmental perception and real-time optimization in the dynamic warehousing environment, such as the currently proposed optimization particle swarm algorithm and optimized ant colony algorithm, and analyze the applicable scenarios of each method. Finally, the important future direction of dynamic environmental adaptation and fusion algorithms is discussed accordingly, which provides a reference for subsequent research in this regard.