A multi-group robot cooperative control method and control system based on reinforcement learning

Abstract

The invention provides a multi-group robot cooperative control method and system based on reinforcement learning. The steps of the method include: generating a state-action table through reinforcement learning, sharing reinforcement learning results among the robots in the group, sharing the state-action table when encountering each other to generate a full-environment state-action set, and using the full-environment state-action set to carry out cooperative control of each group of robots. The system includes environment mapping module, intra-group learning sharing module, inter-group learning sharing module and collaborative control module. The multi-group robot cooperative control method and system learn the actions of a single robot in the corresponding state through the reinforcement learning algorithm, and based on this, interact within the group, share the learning effect of a robot group, and finally when the robots in the group meet , share all the information in the group, and perform robot avoidance to improve the efficiency of reinforcement learning; use the inter-group multi-robot transfer learning mechanism to improve the efficiency of multi-robot navigation in large-area spaces.

Description

technical field [0001] The invention relates to a multi-group robot cooperative control method and control system, in particular to a multi-group robot cooperative control method and control system based on reinforcement learning for warehousing and logistics. Background technique [0002] When traditional industrial robots gradually replace monotonous, highly repetitive, and dangerous tasks, the collaborative work of robots will gradually penetrate into various industrial fields. The collaboration between robots and robot groups is easy to manage, can effectively improve production efficiency and save time, so it is particularly widely used in warehousing and logistics. In the research of multi-group robot cooperative control system, the focus is on how to carry out effective information exchange within and between robot groups, and realize effective control of multi-group robot cooperation. [0003] The use of teams of robots can accomplish some tasks more efficiently tha...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is that it is difficult for existing multi-group robot algorithms to efficiently avoid and perform information interaction when robots meet

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