Abstract: To solve the low efficiency and insufficient dynamics of cooperative planning of multi-warehouse robots in current intelligent warehouses,a path planning method combining Improved Snake Optimizer(ISO) and Time Window(TW) model was proposed. Firstly,in the static planning stage,the improved snake optimizer considering the blocking factor was used to plan the global optimal path for multi-warehouse robots,and the time window of each robot was calculated,so as to improve the planning efficiency of warehouse robots. Secondly,in the dynamic planning stage,the time window model of multi-warehouse robots was established and dynamic adjustment strategy was introduced to resolve conflicts and improve the dynamic performance of the algorithm. Finally,simulation and experiments were conducted,the simulation results showed that the ISO-TW algorithm could reduce the number of blocking points by up to 27~43 compared to other algorithms with a reduction of 22.50 %~31.62 % (with a robot size of 80). The proportion of replanned paths could be reduced by 39.82 %~41.05 % (with a robot scale of 40). The average running time could be shortened by up to 38~40 s with a reduction of approximately 18.27 %~19.05 % (with a scale of 60 robots). Experimental results showed that the ISO-TW algorithm reduces the average running time by 8.53 %~9.23 % and the number of conflicts by 11.63 %~15.56 % compared to other algorithms. It could achieve efficient collaborative planning of multi-warehouse robots in real scenarios.

Key words: Snake Optimizer(SO), Time Window(TW), warehouse robot, path planning