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Multi-robot route planning method applied to dangerous chemical environment

A multi-robot and path planning technology, applied in navigation computing tools and other directions, can solve problems such as formation formation and action strategy selection difficulties

Active Publication Date: 2019-03-29
BEIJING UNIV OF CHEM TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the formation formation and action strategy selection among multiple robots are still the difficulties of research.

Method used

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  • Multi-robot route planning method applied to dangerous chemical environment
  • Multi-robot route planning method applied to dangerous chemical environment
  • Multi-robot route planning method applied to dangerous chemical environment

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Embodiment Construction

[0042] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. Note that the aspects described below in conjunction with the drawings and specific embodiments are only exemplary, and should not be construed as limiting the protection scope of the present invention.

[0043] Step 1: The hazardous chemical environment is built according to the real hazardous chemical environment through the Unity3D engine, in which static obstacles of traditional chemical buildings are set, such as figure 2 shown;

[0044] Step 2: Add dynamic obstacles to the environment, simulate moving objects in the real environment, and specify target points to simulate the place where special events occur;

[0045] Step 3: In the Unity3D engine, it is only necessary to design sparse environment rewards to perform simulation training. The rewards only need to be based on the rewards after the robot reaches the target point and the puni...

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Abstract

The invention discloses a multi-robot route planning method applied to a dangerous chemical environment, and belongs to the technical field of robot route planning. The method is applied to intelligent robots, can realize full map inspection of multi-robot under a complex and dangerous chemical environment with high dynamic performance, and can realize real-time formation reaction to special events. The core algorithm of the method is a deep reinforcement learning algorithm combined with a deep deterministic policy gradient and a curiosity driven algorithm. According to the core algorithm, thecomplex and tedious step of artificially designing environment rewarding in the same kind of algorithm are avoided, while the unknown complex environment is explored and adapted through the intrinsicrewarding and the sparse environment rewarding in the intelligent body itself; and meanwhile, a multi-Agent collaboration learning algorithm is adopted among the multi-robot to obtain the optimal cooperation strategy.

Description

technical field [0001] The invention relates to the technical field of robot path planning, and specifically refers to a multi-robot path planning method applied in a hazardous chemical environment. Background technique [0002] In recent years, with the frequent occurrence of many hazardous chemical environmental accidents, such as the "8.12 Tianjin Binhai New Area Explosion Accident", etc., safety issues in special environments such as hazardous chemical environments have attracted more and more attention. The hazardous chemical environment has the characteristics of complex layout, high risk factor, and high demand for real-time responsiveness. Considering the particularity of the environment, it has the characteristics of no modeling and no need for excessive environmental rewards. The multi-machine path based on the curiosity-driven algorithm Planning algorithms and systems provide feasible solutions. [0003] In recent years, the deep reinforcement learning algorithm ...

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 曹政才田珂胡标周萌王晓彤
Owner BEIJING UNIV OF CHEM TECH
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