Path planning method for multi-robot collaboration

Abstract

The invention relates to the field of robot path planning and particularly relates to a multi-robot cooperative path planning method. A workpiece is provided, a main robot and a slave robot are defined, and the main information of the main robot and the slave information of the slave robot are acquired; the main robot adopts an active vision mode to acquire the information of the workpiece; according to the main information and the slave information, a robot model is built, and an environment model is built according to the workpiece information; according to the robot model and the environment model, the main robot determines the working tasks and the working paths of the main robot and the slave robot; and the main robot and the slave robot execute the working tasks according to the working paths. A three-dimensional object is intelligently identified through a binocular active vision system, which is not limited to features of the color and the shape and the like of the object. A sectional path planning technology is adopted, the path optimization efficiency is improved, a handshake collision avoidance problem in multi-robot superimposed motion can be solved, and dynamic adjustment of each joint and online optimization of the path during the multi-robot processing process can be realized.

Description

technical field [0001] The invention relates to the field of robot work, in particular to a multi-robot collaborative path planning method. Background technique [0002] Traditional industrial robots basically do not have the ability to cooperate, and most of the processing is completed by human intervention. With the improvement of process requirements and the complexity of industrial operations, it is difficult for a single robot operation to meet industrial needs. As an important branch in the field of robotics research, the multi-robot cooperative system has received more and more attention. In a large number of multi-robot research, the problem of multi-robot collaborative path planning has become the focus of research. Specific robot collaboration often refers to a specific environment, uses sensor information to obtain synchronization during the work process, and coordinates operations through information sharing. Realizing effective path planning, collaborative ope...

AI Technical Summary

Problems solved by technology

At present, the problem of multi-robot collaboration in domestic products is mostly solved by teaching methods and robot end-point reverse solutions, but only considers the coupling motion in robot collaboration. This method has low efficiency and poor flexibility.

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