A Path Planning Method for Mobile Robots in Dense Storage Areas

A mobile robot and dynamic programming technology, applied in the field of mobile robots, can solve problems such as inability to consume time and space, insufficient response to environmental information, etc., to reduce complexity, improve real-time and effectiveness, and save time.

Active Publication Date: 2014-10-22
爱泊科技(海南)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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 it is safe and reliable, but the disadvantage is that it is more dependent on the static environment, and the response to frequently changing environmental information is not timely enough. Therefore, it is necessary to establish an environmental information that can track changes in real time. , it is necessary to ensure the global path planning method of "real-time re-planning"

Method used

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  • A Path Planning Method for Mobile Robots in Dense Storage Areas
  • A Path Planning Method for Mobile Robots in Dense Storage Areas
  • A Path Planning Method for Mobile Robots in Dense Storage Areas

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Embodiment Construction

[0048] Embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings:

[0049] A mobile robot path planning method for dense storage areas such as figure 1As shown, it is realized on the control system of the three-layer structure. The control system includes the man-machine interface layer, the service scheduling layer and the execution layer. The robot completes the task of accessing the goods, and the service scheduling layer uses the scheduling 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 accessing the goods. The human-machine interface layer proposes a request for access to goods to the service scheduling layer, and the service scheduling layer responds to the request, making a non-touch path plan in advance according to the starting point and target point of the task, and sends the n...

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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 path planning method for mobile robots used in dense storage areas. Background technique [0002] When mobile robots are used in logistics warehousing and parking lots, etc., 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 lanes, so that the mobile robot can Navigate around all obstacles safely and without error. [0003] At present, the path planning methods of mobile robots mainly include two types: 1. Global path planning: plan a non-collision path in advance, find out the feasible or optimal path from the starting point to the target point according to the known environment model, and its environmental information Most of them are static obstacles; 2. Local path planning: The working environment is unknown or partially unknown, and the size, shape and position information of obs...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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