Multi-cleaning robot task assignment method in large-scale indoor environment

A technology for cleaning robots and indoor environments, applied in the field of multi-robot task assignment, can solve problems such as difficult cleaning work, waste of resources, and limited battery power for cleaning robots.

Active Publication Date: 2018-09-28
苏州灵视视觉科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Although the emergence of unmanned floor washing vehicles has greatly reduced labor costs, each robot always acts independently and lacks planning when performing cleaning tasks, which often leads to repeated cleaning of certain areas, resulting in unnecessary waste of resources
In some large indoor environments, due to the limited loading capacity and battery power of the cleaning robot, it is difficult to use a single robot to complete the cleaning work of a given area at one time

Method used

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  • Multi-cleaning robot task assignment method in large-scale indoor environment
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  • Multi-cleaning robot task assignment method in large-scale indoor environment

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Embodiment Construction

[0037] Below in conjunction with accompanying drawing and preferred embodiment, the present invention is described in detail as follows:

[0038] Such as figure 1 As shown, the present invention provides a multi-cleaning robot task assignment method in a large-scale indoor environment, which includes the following steps:

[0039] S10, dividing the global environment;

[0040] S20. Encoding the divided sub-regions;

[0041] S30. Set the evolution algebra counter t=1, the number of iterations T, the number k of robots, and the number N of populations;

[0042] S40, population initialization: initialization route P(t), selection of breakpoint B(t);

[0043] S50. Calculate the fitness of all individuals in the population: calculate the sub-travel path H of robot i in each individual i (i=1, 2,...k) the sub-map area A connected by the sub-path i (i=1, 2, ..k) sum, denoted as C(H i )+C(A i ), calculate the maximum value among k values;

[0044] S60. According to the objectiv...

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Abstract

The invention discloses a multi-cleaning robot task assignment method in a large-scale indoor environment, comprising the following steps of: performing global environment segmentation; encoding segmented sub-regions; setting an evolution algebra counter t=1, the number of iterations T, the number of robots k, and the number of populations N; selecting an initial route P(t) and a breakpoint B(t);calculating the sum of sub-map areas Ai (I = 1, 2, .. k) connected to sub-paths of sub-travel paths Hi (I = 1, 2, ... k) of each individual robot i, and calculating the maximum of k values; recordingthe best solution in the contemporary population according to an objective function; performing genetic operator operation to obtain a next generation path P(t+1) and a breakpoint B(t+1); performing termination condition judgment that whether the maximum number of iterations is reached; and for the output optimal solution, using the 2-opt algorithm to optimize each sub-travel path itself. This method enables the entire robot system to perform tasks with greater efficiency.

Description

technical field [0001] The invention belongs to the technical field of multi-robot collaboration, in particular to a multi-robot task assignment method. Background technique [0002] With the rapid development of disciplines such as artificial intelligence, sensor technology and computer science, robotics has made a breakthrough. In the fields of production and life, robots have replaced manual labor, improved the living environment, and increased work efficiency. [0003] In the early research stage of robotics, the research focus of mobile robots is mainly on structural design, motion control, navigation and obstacle avoidance, etc. In the past two decades, due to the vigorous development of robot technology and related fields, the stability and practicability of robots have been greatly improved. With the continuous expansion of application fields and the increasing complexity of application tasks, the working ability of a single robot is difficult to meet the growing n...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0217G05D2201/0217
Inventor 孙荣川郁树梅匡绍龙周永正孙立宁
Owner 苏州灵视视觉科技有限公司
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