Multi-Body Collaborative Scheduling Strategy Based on Bessel Curve and Grey Wolf Algorithm

With the rapid development of computer technology, the development of intelligent technology is getting faster and faster, and the application of intelligent applications is getting wider and wider. Intelligent trolley as one of the intelligent applications has developed rapidly and is widely used in production life. Smart trolleys and the products generated on the basis of smart trolley research have become the key equipment for automated logistics transportation. Intelligent trolley reasonable path planning can choose the best path [1]–[2], and then improve production efficiency. To pursue high efficiency in the work of smart carts, choosing the path with the shortest movement time is one of the methods to improve efficiency. In this paper, by analyzing the kinematic mechanism of the two-dimensional motion of the trolley and establishing a two-dimensional planar path planning model and a nonlinear planning model by combining the principles of multi-body collaborative scheduling [3], we study the influence of the position and attitude of the initial and termination points of the trolley and the midway path planning scheme on the formation change time, and seek the shortest time of scheduling under the premise of avoiding collision. In this paper, two main aspects are considered. First, considering the non-collision constraint, square area constraint, velocity constraint and acceleration constraint, the optimization model is established with the objective of minimizing the maximum time used by each cart to reach the target point. Second, combined with the minimum radius of curvature restriction when the intelligent cart does arc motion, the motion process of the cart is divided into arc-linear-arc three segments to establish the cart path planning model under the requirement of seeking the shortest path and the final arrival of the cart at the target azimuth. Considering the non-collision constraint, square area constraint, velocity constraint and acceleration constraint, the Bessel curve [4] is used to plan the path to avoid the obstacles in the area where collision may occur, and the optimization model is established with the goal of shortest dispatch time.