Abstract
A general methodology for dynamic obstacle avoidance and optimal path planning of delivery robot is presented in this paper. The three-dimensional model of general environment and optimal distribution path planning of robot path planning in buildings and actual working environment are established by using grid method and path weighting method. The optimal dynamic intelligent distribution path with the minimum time or energy consumption target and the obstacle avoidance of sudden obstacles has been obtained by introducing the ant colony algorithm and artificial potential field method. The model has been applied in the simulation of material distribution in three-story building. The results indicate that the present methodology can not only be used to obtain the optimal distribution routing of material handling robot, but also to avoid sudden obstacles. Therefore, it is a practical reliable and effective modern method which lays a solid foundation for the popularization of logistics distribution robots.
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© 2024 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
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Han, Z., Hao, R., Chen, X., Han, Y., Liu, F., Qi, Q. (2024). Intelligent Path Planning Method of Logistics Distribution Robot in Building. In: Yue, X., Yuan, K. (eds) Proceedings of 2023 the 6th International Conference on Mechanical Engineering and Applied Composite Materials. MEACM 2023. Mechanisms and Machine Science, vol 156. Springer, Singapore. https://doi.org/10.1007/978-981-97-1678-4_36
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DOI: https://doi.org/10.1007/978-981-97-1678-4_36
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