Scheduling method, device and server for mutual avoidance of multiple robots

Abstract

The present application discloses a scheduling method, device and server for mutual avoidance of multiple robots. The method includes: by determining and uploading the first state information of the current self; receiving the second state information of other robots under the current map; obtaining local avoidance information according to the first state information and the second state information; receiving the information sent by the cloud server The virtual obstacle information generated according to the global scheduling information; wherein, the global scheduling information is obtained by the cloud server according to the first state information and the second state information; according to the local avoidance information and virtual obstacle information Dodges with other robots. It achieves the goal of effectively unifying local avoidance and global scheduling strategies, thereby better ensuring the safety and accessibility of multiple robots running in the same scene, and preventing multiple robots from colliding with each other, etc. The technical effects of the problem.

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

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