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
View PDF4 Cites 31 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the formation formation and action strategy selection

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • 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

Examples

Experimental program
Comparison scheme
Effect test

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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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 ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
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
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap