Scheduling methods, scheduling device and scheduling server used for multi-robot mutual avoidance

Abstract

The application discloses scheduling methods, a scheduling device and a scheduling server used for multi-robot mutual avoidance. The method includes: determining and uploading current first state information of a current one; receiving second state information of other robots in a current map; obtaining local avoidance information according to the first state information and the second state information; receiving virtual obstacle information which is issued by a cloud-side server and generated according to global scheduling information, wherein the global scheduling information is obtained bycarrying out processing by the cloud-side server according to the first state information and the second state information; and carrying out avoidance between the other robots according to the localavoidance information and the virtual obstacle information. A purpose of effectively unifying local avoidance and global scheduling strategies is achieved, and thus technical effects of better guaranteeing safety and traffic of running of the multiple robots in the same scene, and preventing problems of mutual collision among the multiple robots and the like are realized.

Description

technical field [0001] The present application relates to the field of robot technology, in particular, to a scheduling method, device and server for mutual avoidance of multiple robots. Background technique [0002] There are more and more scenarios where multiple robots are deployed on the same map, but there are three major problems among multiple robots in related technologies as follows: [0003] 1. There are a series of insecurities in relying solely on sensors to avoid obstacles: First, if two robots rely solely on laser obstacle avoidance, if the laser heights are the same, the two robots will not be able to see each other, and collisions will inevitably occur; The second is that when the robots can detect each other through sensors, if two robots are moving towards each other at high speed, there is still a high possibility that the two robots will collide due to the reaction delay, or they will be too close to move. [0004] 2. There are problems in sharing each o...

AI Technical Summary

Problems solved by technology

[0003] 1. There are a series of insecurities in relying solely on sensors to avoid obstacles: First, if two robots rely solely on laser obstacle avoidance, if the laser heights are the same, the two robots will not be able to see each other, and collisions will inevitably occur; The second is that when the robots can detect each other through sensors, if two robots are moving towards each other at high speed, there is still a high possibility that the two robots will collide due to the reaction delay, or they will be too close to move.

[0004] 2. There are problems in sharing each other's positions through LAN or remote server: first, if only share the position, and the two robots independently plan the path, they will enter the state of infinite mutual avoidance due to lack of negotiation; second, if the path is added on the basis of the shared position Plan the rule of keeping to the right. In the narrow passage, you will enter a deadlock state because you cannot miss the car. At the turn, due to the unpredictable behavior of the other party, there is a high possibility of collision

Images