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Multi-robot path planning method based on three-dimensional space intensive storage region

A storage area and three-dimensional space technology, applied in the field of mobile robots, can solve problems such as incoherent and incoherent tasks before and after tasks, and pauses at the elevator robot entrance

Active Publication Date: 2013-02-13
爱泊科技(海南)有限公司
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Problems solved by technology

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a multi-robot path planning method based on three-dimensional space-intensive storage areas, which solves the problem that the mobile robot can only be manually switched to cause the mobile robot to appear at the robot entrance of the elevator when it is transported across floors. Pause, inconsistency and incoherence between tasks before and after

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Embodiment Construction

[0056] Embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings:

[0057] A multi-robot path planning method based on a three-dimensional space-intensive storage area is based on the following path planning conditions: (1) the multi-robot path planning mainly solves collision and conflict problems; Robots and elevator robots; (3) the collision and conflict of mobile robots not only come from the collision and conflict in the horizontal plane but also from the collision and conflict in the vertical plane; (4) the collision and conflict of mobile robots refer to the Task deadlock occurs (walking toward each other in the horizontal plane and facing toward each other in the vertical plane); (5) the mobile robot constitutes a dynamic obstacle for other robot members; (6) the wireless communication between the mobile robot and the scheduling server network for communication.

[0058] Such as figure 1 As shown, a multi...

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Abstract

The invention relates to a multi-robot path planning method based on a three-dimensional space intensive storage region. The method is characterized by comprising a main thread and a parallel executed planning thread which are arranged in a scheduling server, a collision prevention thread and an execution thread, wherein the main thread initializes and updates a three-dimensional net-shaped path diagram in real time; the planning thread divides tasks and task paths, and marks and sends the mask paths to an execution queue; the collision prevention thread divides conflict region and executes a command escape task before a command; and the execution thread sends an execution command to a mobile robot or an elevator robot. According to the method in which different kinds of robots operate in a relay mode to complete the task path together, automatic switch between the mobile robot and the elevator robot and the requirement for arbitrary access of goods across floors are achieved. The method has the advantages of being high in efficiency, reasonable, real-time and the like.

Description

technical field [0001] The invention belongs to the field of mobile robots, in particular to a multi-robot path planning method based on a three-dimensional dense storage area. Background technique [0002] Two-dimensional plane multi-robot path planning technology has achieved fruitful results and has been widely used. In the existing multi-mobile robot system path planning technology research, it is basically a two-dimensional planar path planning solution for the conflicts that may occur when the mobile robot is driving on the ground. The conflicts include: intersection conflicts on the ground, Overtaking conflicts on the ground, confrontational conflicts on the ground. With the expansion of the application of multi-mobile robots in dense storage areas, the two-dimensional plane path planning and conflict resolution methods are increasingly unable to meet the needs of practical applications. The delivery and pick-up of goods is shuttled back and forth between the physic...

Claims

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Application Information

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