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Robot motion planning method for searching to identify multi-objective tasks by facing man-machine collaboration

A motion planning, human-machine collaboration technology, applied in motor vehicles, instruments, transportation and packaging, etc., can solve the problems of indiscriminate processing and low efficiency, and achieve the effect of simple judgment method, improved efficiency, and reduced waiting time.

Active Publication Date: 2017-01-11
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0007] It can be seen that when the existing technology avoids the target missed detection due to the simultaneous processing of information by the operator that is greater than the maximum workload of the operator, it only adopts a simple method of setting a relatively large fixed time interval, and does not differentiate the processing according to the actual situation. low efficiency

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  • Robot motion planning method for searching to identify multi-objective tasks by facing man-machine collaboration
  • Robot motion planning method for searching to identify multi-objective tasks by facing man-machine collaboration
  • Robot motion planning method for searching to identify multi-objective tasks by facing man-machine collaboration

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Embodiment Construction

[0031] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0032] The invention provides a robot motion planning method for man-machine collaborative search and recognition multi-target tasks, the main idea of ​​the method is:

[0033] When the mobile robot detects a suspected target at a long distance, the recognition task of the suspected target is added to the pending task set; when the operator completes the target recognition task, the completed recognition task is deleted from the pending task set.

[0034]When the set of tasks to be processed changes, the control center judges whether the total amount of information collected by mobile robots reaching their respective suspected targets within the same time period (usually refers to the amount of information contained in the images collected by mobile robots at observation points) is greater than The maximum workload of the operator, if it is, it is consider...

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Abstract

The invention discloses a robot motion planning method for searching to identify multi-objective tasks by facing man-machine collaboration. The robot motion planning method includes that judgment about whether maximum working load is exceeded or not is performed when a task set is changed, a fixed time interval is not adopted, unnecessary waiting time is reduced, and efficiency is improved; when the judgment about whether the maximum working load is exceeded or not is performed, judgment about whether working load is exceeded or not is performed according to time that moving robots reach suspected target observation points planned by the robots, and the judgment mode is quite simple and efficient. When paths are re-planned for the robots, time for an operator to complete target identification is needed; the time for the operator to complete target identification task is uncertain, so that target identification task completion time of the operator is created as random models, probability distribution function of the target identification task completion time of the operator is established in advance, and rationality of path planning is guaranteed.

Description

technical field [0001] The invention belongs to the technical field of multi-mobile robot path planning, and in particular relates to a robot motion planning method for man-machine collaborative search and recognition multi-target tasks. Background technique [0002] In the context of modern science, mobile unmanned platforms have been widely used in military and civil fields due to their advantages such as strong maneuverability, low cost, strong survivability, and convenient use. Mobile robots have more obvious advantages in target recognition tasks, and can achieve "non-contact" target recognition. [0003] Due to the advantages of humans in complex terrain and camouflaged target recognition, the mobile unmanned platform obtains target information through the information acquisition device installed on itself, and transmits the target information to the operator through the information transmission device for target recognition. The machine-machine cooperative recognitio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0217
Inventor 辛斌高冠强方浩陈杰丁玉隆朱阳光
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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