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

摘要： 在汽车行业制造流程快速向“数字化”与“智能化”转型的背景下，制造工艺自动开 发技术获得学术与产业界的广泛重视。针对车身制造过程多机器人工位中自动化工艺路径规 划问题，提出基于智能化算法的多机器人系统避障与协调规划算法。针对现有机械臂在复杂 多障碍物环境中局部路径规划时间长的问题，提出改进的 APF-RRT* 的机器人避障方法，缩 短算法的迭代次数以及路径的总长度，实现局部路径的优化，提高局部避障算法的搜索效率。

关键词: 多机器人系统；避障算法；APF-RRT*；车身数字化；工艺开发