关键词: 多机器人系统；避障算法；APF-RRT*；车身数字化；工艺开发

Abstract: Under the background of the rapid transformation of the manufacturing process of the automobile industry to "digitalization" and "intelligence", the automatic development technology of manufacturing process has received extensive attention from academy and industries. Aiming at the problem of automated process path planning in multi-robot stations in the vehicle body manufacturing process, a dynamic collision detection and coordination path planning algorithm are proposed for multi-robot system based on intelligent algorithms. Aiming at the problem that the local path planning time of the existing robot arm is long in the complex multi-obstacle environment, an improved APF-RRT* robot obstacle avoidance method is proposed to shorten the iteration times of algorithm and the total length of the path, realize the optimization of the local path, and improve the search efficiency of the local obstacle avoidance algorithm.

Key words: Multi-robot system; Obstacle avoidance algorithm; APF-RRT*; Body digitization; Process development