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Path planning system and method based on multiple omni-directional mobile robots

A technology for path planning and omnidirectional movement, applied in control/regulation systems, instruments, non-electric variable control, etc., can solve problems such as mutual collisions, avoid motion collisions, reduce development difficulty, and improve flexibility and scalability Effect

Active Publication Date: 2019-07-05
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that multiple mobile robots easily collide with each other during automatic navigation, further improve the collaborative ability of multiple robots, and provide a path method based on multiple omnidirectional mobile robots

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  • Path planning system and method based on multiple omni-directional mobile robots
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  • Path planning system and method based on multiple omni-directional mobile robots

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Embodiment Construction

[0065] The purpose of the invention of the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, and the embodiments cannot be repeated here one by one, but the implementation of the present invention is not therefore limited to the following embodiments.

[0066] A path planning system based on multiple omnidirectional mobile robots, such as figure 2 As shown, it includes a robot, an upper computer, a motor drive system, and the bottom layer of the main control of the Raspberry Pi; the robot is driven by a mecanum wheel, and the upper computer system and the bottom layer of the main control of the Raspberry Pi are connected through a wireless local area network;

[0067] like figure 2 As shown, the upper computer, the bottom layer of the main control of the Raspberry Pi, and the control of the motor drive system are used. The three parts are relatively independent in structure and closely related....

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Abstract

The invention discloses a path planning system and method based on multiple omni-directional mobile robots. The path planning system comprises a robot, an upper computer, a motor driving system and aRaspberry Pi main control bottom layer. The upper computer system is connected with the raspberry pi main control bottom layer through a wireless local area network; the Raspberry Pi main control bottom layer is connected with a sensor and a motor driving system in the robot respectively; a plurality of omni-directional mobile robots are positioned by using sensors. The path planning method comprises the following steps of (1) enabling the robot to position by using a sensor carried by the robot; (2) generating a global path by utilizing an A * algorithm according to a given target position; and (3) according to the actual environment, generating a local path by utilizing an RVO local path planning algorithm, and finishing the autonomous navigation of a plurality of robots. For the path planning of the multiple robots, the problem of the motion collision of the multiple mobile robots can be avoided.

Description

technical field [0001] The invention relates to the field of path planning of mobile robots, in particular to a path planning method based on multiple omnidirectional mobile robots. Background technique [0002] Wheeled mobile robot is the earliest realized robot movement mode, so it is widely used in the field of mobile robot. Compared with other moving methods, the wheeled moving mechanism has a simple design, high movement efficiency, flexible movement, low vibration and noise, and can achieve fast and efficient movement. In the process of autonomous movement, mobile robots need to solve their own positioning and path planning problems. Compared with single-robot systems, multi-robot systems have the advantages of parallelism, reliability, and strong robustness, and can complete various tasks more efficiently. At present, multi-robot systems have been widely used in various fields, such as automobile manufacturing, intelligent security, military patrol, etc. However, t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06Q10/04G05D1/02
CPCG06Q10/047G05D1/0289
Inventor 陈锐东魏武李艳杰韦晓琴
Owner SOUTH CHINA UNIV OF TECH
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