Q.P. Wang, M. Torres

Pages: 23-30

Abstract
In order to realize cooperative collision avoidance control of multi-workshop dynamic obstacles, a cooperative collision avoidance method of multi-workshop dynamic obstacles based on the Internet of things technology is proposed in this paper. A cooperative collision avoidance model of multi-workshop dynamic obstacles based on multi-node optimization adaptive guidance control of the Internet of things is constructed, and an obstacle avoidance control constraint parameter model of multi-workshop handling machinery is also constructed. The dynamic obstacle cooperative collision avoidance trajectory problem of multi-workshop handling machinery is described as the global optimization problem of multi-node optimization in the Internet of things. As the guiding rule of multi-workshop dynamic obstacle cooperative collision avoidance control, the mechanics parameters and trajectory tracking control parameters of multi-workshop dynamic obstacle cooperative collision avoidance control are obtained, and the multi-workshop dynamic obstacle cooperative collision avoidance control equation and dynamic equation are established. According to the global optimization control rule for multi-node optimization of the Internet of things, pheromones are distributed. In this way, multi-workshop handling machinery is driven to realize the spatial path optimization planning and the obstacle avoidance algorithm is improved. The simulation results show that the algorithm is effective in obstacle avoidance control of multi-workshop handling machinery, and can effectively avoid obstacles and improve the control performance of multi-workshop handling machinery in the process of space motion.
Keywords: internet of things technology; multi-workshop; dynamic obstacle; collaborative collision avoidance