Conflict management method and system for multiple mobile robots

Abstract

Embodiments of the invention provide a conflict management method and system for multiple mobile robots, and belong to the field of robots. The conflict management method for the multiple mobile robots includes the steps of acquiring respective current positions and planned paths of multiple mobile robots; establishing, according to the current positions and the planned paths of the multiple mobile robots, a node resource table in which a corresponding relationship between mobile robot IDs, node area IDs and occupation time is recorded, wherein any two of the multiple mobile robot IDs do not collectively correspond to the same occupation time under the same node area ID in the node resource table; and controlling the multiple mobile robots to occupy node areas corresponding to the node area IDs respectively according to the occupation time corresponding to the respective mobile robot IDs in the node resource table. Therefore, the problem of path conflict and collision of the mobile robots when executing the planned paths is eliminated, and the transportation efficiency of the mobile robots in the space is optimized.

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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