Conflict management method and system for multiple mobile robots

Abstract

An embodiment of the invention provides a deadlock conflict management method and system for multiple mobile robots and belongs to the field of robots. The method comprises: acquiring a current position and planned path of each mobile robot; allocating node areas adjacent to the positions of the mobile robots; when the node area allocated to the second mobile robot coincide with the node area allocated to the first mobile robot, marking the node areas that are in coincidence as conflicting node areas that are in conflict state; judging whether a direction where a first planned path of the first mobile robot passes through the conflicting node areas is exactly opposite to a direction where a second planned path of the second mobile robot passes through the conflicting node areas; if yes, determining that the first mobile robot and the second mobile robot are in mutual deadlock state. Therefore, mutual deadlock conflict is detected based on node resource allocation and path analysis; consumption of processor resources is low; the method and system are of good timeliness.

Description

technical field [0001] The invention relates to the technical 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...

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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 calculation is heavy and the real-time performance is poor, especially due to multiple Mobile robots are in a dense space, and the mobile robots form obstacles to each other, resulting in the inability to form a biconnected non-trivial graph, which will form a mutual deadlock state. At present, the industry still cannot propose a better solution.

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