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

A mobile robot and conflict resolution technology, which is applied in the field of multi-mobile robot path conflict resolution based on buffer zone, can solve problems such as affecting operation efficiency, and achieve the effect of improving efficiency

Inactive Publication Date: 2013-07-24
SHENZHEN PUZHILIANKE ROBOT TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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 wil

Method used

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

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Embodiment Construction

[0050] Embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings:

[0051] A buffer-based path conflict resolution method for multiple mobile robots, such as figure 1 As shown in , it includes the main thread in the scheduling server, the parallel execution planning thread, the link scheduling thread and the execution thread. in:

[0052] Described main thread comprises the following steps:

[0053] Step A1: The main thread initializes a network path map;

[0054] In this step, the method for establishing and initializing the network path graph includes the following processing procedures:

[0055] (1) Obtain the storage bitmap of the dense storage area;

[0056] ⑵Establish storage point: Take the center point of each storage bit as the storage point;

[0057] (3) Establish waypoints: take the center point of the walkable area with the same size as the storage point area on the roadway as the waypoint, and the...

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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...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 蔺鹏孙威
Owner SHENZHEN PUZHILIANKE ROBOT TECH CO LTD
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