Method for solving multiple mobile robot path conflict based on buffer area

Abstract

The invention relates to a method for solving multiple mobile robot path conflict based on a buffer area. The method is characterized by comprising the following steps of scheduling a main thread and a parallelly executed planning thread in a server, a collision prevention thread and an execution thread, wherein the main thread initializes and updates a net-shaped path diagram in real time; when the planning thread detects a cargo access task, acquiring starting pint and target point information, dividing the task into a plurality of sub-tasks, and planning a task path; seizing resource variables, allocating tasks, defining occupiable paths of a mobile robot, and adding the tasks into an executing queue by a path scheduling thread; and executing a thread executing command and sending order to the mobile robot. The method is reasonably designed; by the method, the problem that when the multiple mobile robot path conflict exists in the prior art, the whole conflict area is occupied, and one part must wait for the other part to totally go through the conflict area and then enters the conflict area to cause low efficiency is solved; and the conveying efficiency of the mobile robot is improved.

Description

technical field [0001] The invention belongs to the field of mobile robots, in particular to a method for solving path conflicts of multiple mobile robots based on a buffer zone. Background technique [0002] When multiple mobile robots are used to transport goods, the path conflicts of mobile robots often occur. The so-called path conflict of mobile robots means that two or more mobile robots occupy the same position at the same time. There are generally three methods to solve route conflicts of multiple mobile robots: traffic rule method, speed adjustment method and priority method. So-called traffic regulation law is also called traffic light law, when running into crossroads, control pedestrian's traffic for crossroads with traffic lights. The so-called rate adjustment method is also a method for motion coordination. The rate adjustment includes slowing down the speed, adjusting the direction of the speed and stopping the operation. The strategy allows a mobile robot t...

AI Technical Summary

Problems solved by technology

If it is the traffic rule law, the entire intersection will be occupied; if it is the speed law, the entire narrow aisle will be occupied; if it is the priority law, the path of the high-priority mobile robot will be used as the path of the low-priority mobile robot In this way, when the conflict area is relatively large, one party waits for the other for a long time, which will inevitably affect the operating efficiency

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