Route planning method and system of multiple moving robots

A mobile robot and path planning technology, applied in the field of robotics, can solve problems such as the inability to find a balance between space resources and conflict avoidance, and the inability to take into account the characteristics of the environment in which the vehicle is located.

Active Publication Date: 2018-05-04
KUKA ROBOTICS GUANGDONG CO LTD
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Problems solved by technology

[0005] The purpose of the embodiment of the present invention is to provide a method and system for path planning of multiple mobile robots, to at least solve the problem that the centralized management in the

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  • Route planning method and system of multiple moving robots
  • Route planning method and system of multiple moving robots
  • Route planning method and system of multiple moving robots

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Embodiment Construction

[0033] The specific implementation manners of the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation manners described here are only used to illustrate and explain the embodiments of the present invention, and are not intended to limit the embodiments of the present invention.

[0034] Such as figure 1As shown, multiple obstacles B1, B2, etc., multiple mobile robots A0, A1, etc., and multiple node areas N1 are marked in the map of the dense area implementing the path planning method for multiple mobile robots according to an embodiment of the present invention , N2, etc. Wherein, the dense area can be predetermined according to needs, for example, it can refer to the area in the warehouse, the multiple mobile robots A0, A1 can refer to multiple logistics robots, and through the mobile robots A0, A1 Running mobile can carry goods, but when multiple logis...

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Abstract

The embodiment of the invention provides a route planning method and system of multiple moving robots, and belongs to the technical field of robots. The route planning method of the multiple moving robots comprises the following steps of obtaining the respective current positions and planning paths of each moving robot among the a plurality of moving robots; on the basis of the current position ofthe plurality of moving robots, determining the dense distribution degree relevant to the moving robots in a plurality of division blocks in current position determined preset region; according to the dense distribution degree, determining the respective window time of the plurality of division blocks; according to the determined window time, respectively dispatching the moving robots in the division blocks to execute the path planning operation including the operations of allocating the node region adjacent to the current position to the moving robots according to the current positions and the planning path of the moving robots, so that the moving robots are configured to only pass through the allocated node regions. Therefore the balance is found between the space resource and the conflict avoidance; the conflict occurrence probability of jamming blocks can be reduced. The practicability is higher.

Description

technical field [0001] The invention relates to the field of robots, in particular to a path planning method and system for multiple mobile robots. Background technique [0002] Deploying multiple mobile robots in a dense area (such as a logistics warehouse area) and using these mobile robots to complete tasks such as handling goods to replace manual labor is the current research focus in the field of the Internet of Things. [0003] In order to avoid collisions between multiple mobile robots in dense areas during operation, the following two different processing schemes are generally adopted at present: First, the robots have good conflict resolution capabilities through the current local environment information of the robots ; The second is centralized management conflict resolution, which mainly eliminates conflicts by segmenting the robot's motion path. [0004] However, the inventors of the present application found that there are at least the following defects in the ...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0236G05D1/024G05D1/0276G05D2201/0216
Inventor 刘清
Owner KUKA ROBOTICS GUANGDONG CO LTD
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