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Method and system for path planning of multiple mobile 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 vehicle's environment, so as to improve the efficiency of path calculation, reduce the probability of conflict and collision, and strengthen real-time effect

Active Publication Date: 2021-08-06
KUKA ROBOTICS GUANGDONG CO LTD
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  • Abstract
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  • Application Information

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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 prior art cannot take into account the characteristics of the environment in which the vehicles are located, and cannot find a solution between space resources and conflict avoidance. Balancing Technical Issues

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  • Method and system for path planning of multiple mobile robots
  • Method and system for path planning of multiple mobile robots
  • Method and system for path planning of multiple mobile 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

Embodiments of the present invention provide a path planning method and system for a multi-mobile robot, which belong to the technical field of robotics. The path planning method for multiple mobile robots includes: obtaining respective current positions and planned paths of multiple mobile robots; According to the degree of dense distribution, determine the respective window times of multiple divided blocks; according to the determined window times, respectively schedule the mobile robots in the divided blocks to perform path planning operations, including: according to the current position of the mobile robot and the planned path , the mobile robot is assigned a node area adjacent to its current position, and the mobile robot is configured to pass only through the assigned node area. As a result, a balance is found between space resources and conflict avoidance, the probability of conflict between congested blocks is reduced, and it has strong real-time performance.

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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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0236G05D1/024G05D1/0276
Inventor 刘清
Owner KUKA ROBOTICS GUANGDONG CO LTD