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, which belong to the field of robots. The conflict management method for multiple mobile robots includes: obtaining the respective current positions and planned paths of multiple mobile robots, where the predetermined area includes a plurality of node areas; determining the path segmentation conditions where the current positions of the multiple mobile robots are respectively located, wherein The path segmentation conditions include curved path segmentation or straight path segmentation; and according to the path segmentation conditions, a corresponding number of node regions adjacent to their respective current positions are allocated to multiple mobile robots, wherein the curved path segmentation corresponds to The number of nodal areas of is greater than the number of nodal areas corresponding to the straight path segments, and the mobile robot is configured to pass only through the assigned nodal areas. Thus, the conflict management is realized through the distribution of the nodes, and the probability of the collision of the mobile robot near the curve is reduced.

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 calculation is large and the real-time performance is poor. It will not take into account the characteristics of the planned path, but due to the uncertainty of the turning angle of the mobile robot passing the curve, the conditions for the mobile robot to execute the curve and the straight road are all calculated uniformly, which will cause the mobile robot to occur near the curve. Path conflicts, for which the industry is still unable to come up with a better solution

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