Multi-robot lifting system for coordinated obstacle avoidance planning and control method

The invention discloses a multi-robot hoisting system for coordinated obstacle avoidance planning and a control method, relates to the field of multi-robot hoisting systems, and solves the problems that three existing hoisting robots are easy to collide with one another and cannot avoid space obstacles during coordinated hoisting. The invention provides the following scheme. The system comprises three hoisting robots with the same structure, a comprehensive control system, a space obstacle sensor, a joint mechanical arm trajectory planning module, an obstacle avoidance module, a flexible cable trajectory calculation module, a hoisting robot running trajectory comprehensive module, a hoisting robot running time calculation module and a hoisting robot running trajectory time distribution and adjustment module. The system comprises a joint mechanical arm control module, a hoisting assembly control module, a flexible cable control module, a flexible cable offset calculation module and a flexible cable track compe