Conflict management method and system for multiple mobile robots

Abstract

The embodiment of the invention provides a conflict management method and system for multiple mobile robots, and belongs to the technical field of robots. The conflict management method for the mobilerobots includes the steps: obtaining current positions and planning paths of the mobile robots; establishing a node resource table according to the current positions and the planning paths of the mobile robots; controlling nodal regions of corresponding nodal region IDs occupied by the mobile robots; obtaining the actual time of the mobile robots occupying the nodal regions during actual execution of the planning paths separately; judging whether a first mobile robot corresponding to the first mobile robot ID does not occupy a first nodal region of the corresponding nodal region ID at corresponding occupying time; and if the first mobile robot corresponding to the first mobile robot ID does not occupy the first nodal region of the corresponding nodal region ID at corresponding occupying time, sending a speed regulation instruction to the first mobile robot to adjust the moving speed of the first mobile robot. The actual operation of the mobile robots is guaranteed to be able to be consistent with distribution of the node resource table, and the probability of occurrence of conflicts is reduced.

Description

Technical field [0001] The present invention relates to the field of robots, in particular to a conflict management 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 transporting goods to replace manual labor is the current research focus in the field of Internet of Things. [0003] In order to avoid collisions between multiple mobile robots in a dense area during operation, the following two different processing schemes are generally adopted: One is to use the current local environment information of the robot to make the robot have a good conflict resolution ability ; The second is the centralized management conflict resolution, which mainly eliminates conflicts by segmenting the robot's motion path. [0004] However, the inventor of the present application found that the above-mentioned prior art has at least the f...

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Problems solved by technology

[0004] However, the inventors of the present application found that there are at least the following defects in the above-mentioned prior art during the practice of the present application: First, although the distributed method is simple in operation, strong in real-time and flexible, it is often prone to local extremes due to the occurrence of local extremes It is impossible to complete the task completely; secondly, the centralized management method can execute the task more accurately, but it is very easy to cause conflicts in the running path of the robot. Usually, it is necessary to find the optimal solution, but the amount of calculation is large and the real-time performance is poor. Unable to come up with a better solution

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