Method and system for conflict management of multiple mobile robots

Abstract

The embodiment of the embodiment of the invention provides a method and a system for conflict management of multiple mobile robots, belonging to the field of robots. The method comprises the steps of:obtaining the current position and the planning path of each mobile robot of a plurality of mobile robots, and establishing a node resource table according to the current position and the planning path of each mobile robot; controlling each mobile robot to occupy the node area of each corresponding node area ID according to occupation time corresponding to each mobile robot ID in the node resource table; obtaining the actual position of each mobile robot in a condition of actually executing one planning path; determining whether there is a mobile robot corresponding to a first mobile robot IDdoes not arrives at a node area of a corresponding first node area ID in a corresponding occupation time or not; and if yes, prolonging the occupation time of the first node area ID corresponding tothe first mobile robot ID in the node resource table. Therefore, on the premise of having no conflict, the space resource of a closed area is effectively utilized.

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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