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Foresight anti-lock dynamic allocation method for multi-mobile robot system grid points based on grid map

A mobile robot and grid map technology, applied in the field of mobile robots, can solve problems such as reducing system efficiency, path conflict, and waiting for a long time for robots to avoid loop deadlock and improve overall efficiency.

Active Publication Date: 2019-03-22
YANCHENG INST OF TECH
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Problems solved by technology

[0002] When multiple mobile robots share the same grid map, there must be path conflicts among the mobile robots. In order to avoid collisions between mobile robots, the currently commonly used method is to avoid the planned paths of other robots during robot path planning. Before reaching the end point, it will always monopolize the grid points of the entire path. When the density of mobile robots in the system is high, it will easily cause a large number of robots to wait for a long time, reducing the system efficiency.

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  • Foresight anti-lock dynamic allocation method for multi-mobile robot system grid points based on grid map
  • Foresight anti-lock dynamic allocation method for multi-mobile robot system grid points based on grid map
  • Foresight anti-lock dynamic allocation method for multi-mobile robot system grid points based on grid map

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Embodiment Construction

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] figure 1 Shown is the overall flow chart of the present invention

[0033] The multi-mobile robot system based on grid map is composed of grid map and several mobile robots. N R is the number of mobile robots in the system. A grid map can be described by a graph G(V, E), where V={v j |j∈N and 1≤j≤N V} represents the set of grid points, N V is the number of grid points in the grid map, N represents a positive integer, E represents the set of grid edges, E={e ij | e ij =(v i , v j ), where v i , v j ∈V and v i ≠ v j}, N E is the number of grid edges, v i called edge e ij the starting point of v j called edge e ij end point. The mobile robot can run bidirectionally along the direction of the grid edge, but it can only dock at the grid point. Since multiple mobile robots share the same grid map, conflicts between robots are inevitable. In order to...

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Abstract

The invention provides a foresight anti-lock dynamic allocation method for multi-mobile robot system grid points based on a grid map. According to the method, when the grid points are allocated, eachgrid point is only allocated to one mobile robot at most, and collision between the robots can be effectively avoided. Each robot only can obtain preset NC grid points per round at most, the phenomenon that a lot of robots in the system wait for a long time is avoided, the aim that the robots share the grid map is achieved, and the overall efficiency of the multi-robot system is effectively improved. In the allocation process, the strategy of foresight one step is adopted, a blocking graph model of the system obtained after foresight one step is built in real time, a corresponding loop lockingdetection and avoiding method is adopted, and the loop locking phenomenon is effectively avoided.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a forward-looking anti-deadlock dynamic allocation method for grid points of a multi-mobile robot system based on a grid map. This method is mainly applied to the multi-mobile robot system based on the grid map. It mainly solves the path conflict when multiple mobile robots share the same grid map, the technical problems of collision between multiple mobile robots and system deadlock, and improves the performance of the multi-mobile robot system. The overall efficiency and intelligence level. Background technique [0002] When multiple mobile robots share the same grid map, there must be path conflicts among the mobile robots. In order to avoid collisions between mobile robots, the currently commonly used method is to avoid the planned paths of other robots during robot path planning. Before reaching the end point, it will always monopolize the grid points of the entire path. When t...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0289
Inventor 肖海宁秦德金张炯楼佩煌武星钱晓明曾勇石陈陈王龙军郑竹安
Owner YANCHENG INST OF TECH
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