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Multi-robot path planning and coordination collision prevention method based on fuzzy logic

A path planning and multi-robot technology, applied in two-dimensional position/channel control, comprehensive factory control, comprehensive factory control, etc., can solve problems such as incompetence of a single robot

Inactive Publication Date: 2013-09-25
NANJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0006] The purpose of the present invention is to provide a multi-robot path planning and coordination avoidance method based on fuzzy logic to solve the existing problems in the prior art when faced with some complex tasks that require high efficiency and parallel completion, a single robot is incompetent In order to solve this kind of problem, how to realize the coordination and collision avoidance problem between multiple robots on the basis of realizing the path planning task of a single robot

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  • Multi-robot path planning and coordination collision prevention method based on fuzzy logic
  • Multi-robot path planning and coordination collision prevention method based on fuzzy logic
  • Multi-robot path planning and coordination collision prevention method based on fuzzy logic

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Embodiment Construction

[0044] Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0045] Robots generally have a vision system equipped with several laser sensors or sonar sensors. The working principle of the sensor is to use laser or sonar to scan the 180-degree range ahead. If obstacles are encountered within this range, the laser sensor can read After obtaining the distance information of obstacles, the robot can use this distance information to analyze the entire environment. This embodiment uses this distance information to analyze and then avoid obstacles. In addition, the robot can read the coordinates of the current position and the current orientation angle. This embodiment uses the function of the robot to calculate the difference between the current orientation and the target orientation, and in turn realizes the target-oriented constraints.

[0046] Such as figure 1 As shown, this embodiment provides a metho...

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Abstract

The invention provides a multi-robot path planning and coordination collision prevention method based on fuzzy logic. The method comprises the steps of confirming an input variable and an output variable of a fuzzy controller by setting up the fuzzy controller with robots as a system, using related languages to describe the input variable and the output variable of the fuzzy controller, confirming a qualitative reasoning principle according to the fuzzy control theory, setting up fuzzy control rules according to input signals and output signals of the fuzzy controller, selecting a subordinating degree function of each input language variable and a subordinating degree function of each output language variable, finally, conducting defuzzification, conducting voting on the basis of the maximum principle of the subordinating degree functions, conducting corresponding motions on the robots, and completing the task for planning a path of a single robot. On the basis of the method, the other robots are regarded as dynamic front barriers, and the aim of coordination collision prevention of the multiple robots can be achieved.

Description

[0001] technical field [0002] The invention relates to a multi-robot path planning and coordination collision avoidance method, in particular to a multi-robot path planning and coordination collision avoidance method based on fuzzy logic. Background technique [0003] Path planning is an indispensable and important part of mobile robot navigation technology. It requires the robot to independently determine the path according to the given instructions and environmental information, avoid obstacles, and achieve mission goals. Path planning is the safety guarantee for the mobile robot to complete the task, and it is also an important symbol of the intelligence of the mobile robot. Especially when the accuracy of the robot hardware system cannot be solved in a short period of time, the research on the path planning algorithm is even more important. , which will fundamentally change the navigation performance of the mobile robot, improve the intelligence level of the mobile ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05B19/418
CPCY02P90/02
Inventor 高翔苏青
Owner NANJING UNIV OF POSTS & TELECOMM
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