Study on a Two-layer Path Planning Method of Spherical Multi-robot

A path planning method based on a two-layer coordination system is proposed for the compatibility requirement of path planning global optimum and local coordination in a spherical multi-robot system. In the first layer of the algorithm, the global path quality is improved by proposing a nonlinear sine factor and a sparrow search algorithm with improved levy flight strategy to plan the global collision-free optimal path for each robot. In the second layer, a rolling window method is used to determine the possible collision positions of each robot in the system, and a priority-based conflict resolution strategy is proposed to complete the local coordination of the path near the corresponding position. The experimental results show that the path planning method enables the robots to drive along the global optimal path, but still can carry out flexible and orderly local path coordination, which effectively improves the path planning performance of the system.