Scheduling of multiple mobile robots based on time windows and improved ant colony algorithm

In view of the low efficiency and easy to fall into local optimum in the current path planning research, an improved ant colony algorithm is proposed. In the ant colony algorithm, the difference between the previous generation best path and the current iteration best path has dynamic change information, which improves the efficiency of the algorithm by feeding forward the pheromone generated by the dynamic change information; Aiming at the path conflict problem of mobile robot, a multi robot cooperative obstacle avoidance strategy based on time window algorithm is proposed. Firstly, the calculation method of multi robot conflict area is studied. Secondly, the time window arrangement method of two or more paths crossing is given, which realizes the efficient cooperation of multi robot in the workshop.