Multi-robot path planning method based on time window

A multi-robot, path planning technology, applied in the direction of instruments, comprehensive factory control, comprehensive factory control, etc., can solve the problems of cumbersome, poor user experience, many parking times, etc., to achieve the effect of small amount of calculation and easy detection of conflicts

Active Publication Date: 2016-06-08
江苏哈工智新科技股份有限公司
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Problems solved by technology

[0006] However, many of the existing algorithms are based on precise time windows, or are applied to specific scenarios, and their versatility is poor...

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  • Multi-robot path planning method based on time window

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Embodiment Construction

[0042] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, wherein the schematic embodiments and descriptions are only used to explain the present invention, but are not intended to limit the present invention.

[0043] First explain some terms used in the present invention:

[0044] Time window: A time window refers to the time period during which a robot occupies a certain resource, that is, the robot occupies the resource from the start time to the end time of the time period. When the time windows in which resources are occupied by different robots do not overlap, it indicates that no collisions and conflicts have occurred. If there are potential time windows overlapping, the original time windows are adjusted so that the time windows are separated from each other, so as to avoid conflicts.

[0045] Point time window: The time window when the robot occupies a node on the path.

[0046] Edge time ...

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Abstract

The invention relates to a multi-robot path planning method based on a time window. According to the method provided by the invention, a feasible path of a new robot is planed through a point time window and an edge time window of a node occupied by an existing robot; and when the time window of the robot is disturbed, a path of each robot is dynamically re-planned, so that the conflict of a plurality of robots in a system can be avoided. According to the multi-robot path planning method provided by the invention, a plurality of times of iteration are not needed, and the possibility is only calculated on a limited path set; and the relative calculated quantity is relatively small so that the multi-robot path planning method is more suitable for being applied to a real dispatching scene.

Description

【Technical field】 [0001] The invention relates to the field of robot design, in particular to a multi-robot path planning method based on time windows. 【Background technique】 [0002] At present, with the rapid development of new technologies, the application of robots is becoming more and more extensive, and the number of robots in the same system is also increasing, so the problem of multi-robot scheduling is becoming more and more important. Since multiple robots perform tasks within the same system, they may conflict on walking paths. There are three basic types of conflicts, namely intersection conflicts, catch-up conflicts and opposing conflicts. Among them, the intersection conflict means that two robots arrive at the intersection at the same time. The overtaking conflict means that the two robots are driving in the same direction, and the speed of the robot behind is fast, and rear-end collisions will occur during the driving process. The opposite conflict means tha...

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Application Information

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IPC IPC(8): G05B19/418
CPCY02P90/02G05B19/41865
Inventor 乔徽高恩颖许江帆
Owner 江苏哈工智新科技股份有限公司
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