Method and system for conflict management of multiple mobile robots

Abstract

Embodiments of the present invention provide a conflict management method and system for multiple mobile robots, belonging to the technical field of robots. The conflict management method of the mobile robot includes: obtaining the current position and the planned path of the mobile robot; establishing a node resource table according to the current position and the planned path of the mobile robot; according to the node resource table, controlling the mobile robot to occupy the node area of ​​the corresponding node area ID ; Acquire the actual time when the mobile robots occupy the node area when actually executing the planned path; determine whether there is a first node area corresponding to the first mobile robot ID that does not occupy the corresponding node area ID at the corresponding occupancy time ; If it exists, send a speed regulation instruction to the first mobile robot to adjust the moving speed of the first mobile robot. This ensures that the actual operation of the mobile robot is consistent with the allocation of the node resource table, and reduces the probability of conflicts.

Description

technical field [0001] The 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 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 i...

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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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