Mobile robot path planning method used in intensive storage zone

A mobile robot and path planning technology, applied in the field of mobile robots, can solve problems such as inability to consume time and space, and insufficient response to environmental information, and achieve the effects of reducing complexity, improving real-time performance and effectiveness, and reducing time and space consumption.

Active Publication Date: 2012-12-19
爱泊科技(海南)有限公司
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Problems solved by technology

However, this method is only based on the improvement of grid calculation, and its existing problems are: the path planning of mobile robots is still restricted by obstacles, and when obstacles appear, they must go around them, and the resulting time and space consumption is helpless
[0005] The advantage of the global path planning of the mobile robot path planning method is that

Method used

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  • Mobile robot path planning method used in intensive storage zone
  • Mobile robot path planning method used in intensive storage zone
  • Mobile robot path planning method used in intensive storage zone

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Embodiment Construction

[0048] The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings:

[0049] A path planning method for mobile robots in dense storage areas, such as figure 1 As shown, it is implemented on a three-tier structure control system. The control system includes a human-machine interface layer, a service scheduling layer, and an execution layer. The human-machine interface layer uses user operation terminals to realize the function of storing and storing goods, and the execution layer uses mobile The robot completes the task of storing and storing goods, and the service dispatch layer uses the dispatch layer server to communicate with the user operation terminal and the mobile robot, and realizes the path planning method to control the mobile robot to perform the operation of storing and storing goods. The human-machine interface layer requests the service scheduling layer to access goods, and the service scheduling laye...

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Abstract

The invention relates to a mobile robot path planning method used in an intensive storage zone. The mobile robot path planning method is technically characterized by comprising the following steps: step 1, an initialized net type path diagram is set up by a scheduling layer server; step 2, a cargo storage task is divided into an empty trunk cargo searching subtask and a loading delivering subtask by the scheduling layer server; step 3, a dynamic planning path of the mobile robot is established by the scheduling layer server and a dynamic planning path of the mobile robot is sent to the mobile server; step 4: the mobile robot executes the corresponding subtask; step 5: the mobile robot sends a state report of the mobile robot to the scheduling layer server; and step 6, the scheduling layer server updates the current position, the load state, and a weight related to an original starting point and a target point of the mobile robot. By dividing every task into the empty trunk cargo searching subtask and the loading delivering subtask, according to the planning paths of different subtasks, the complexity of a safety collision prevention operation of a plurality of mobile robots is reduced, and the instantaneity and the effectiveness of the system are improved.

Description

Technical field [0001] The invention belongs to the field of mobile robots, in particular to a mobile robot path planning method for dense storage areas. Background technique [0002] When mobile robots are used in logistics warehousing and parking lots, it is necessary to find a working path from a given starting point to the end point under the conditions of obstacles, high-density storage and few roadways, so that the mobile robot can be able to move. Safely bypass all obstacles. [0003] At present, mobile robot path planning methods mainly include two types: 1. Global path planning: plan a collision-free path in advance, find the feasible or optimal path from the starting point to the target point according to the known environment model, and its environment information Most of them are static obstacles; 2. Local path planning: The working environment is unknown or partly unknown, and the size, shape and position information of the obstacle must be obtained through sensors, a...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 景国辉杨宇
Owner 爱泊科技(海南)有限公司
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