Dynamic avoidance method for multiple robots in collaborative operation

Abstract

The invention discloses a dynamic avoidance method for multiple robots in collaborative operation. The method comprises the steps: carrying out the path pre-planning of all tasks in a task pool according to the priorities, and reducing the conflict intervention between robots from a planning layer; monitoring the current operation states of all the robots, dynamically pre-judging the safety distance, generating different types of stop points, coordinating the operation of the robots, and solving the technical problems of collision, delay, interlocking and the like during the cooperative operation of the robots. Overall scheduling is carried out to optimize resource distribution, traffic control and coordinated avoidance are achieved, local peer-to-peer communication solves the overall operation problem after the robot individual is abnormal, and therefore the robustness of the whole scheduling system is guaranteed. The method is suitable for multi-robot scheduling avoidance scenes suchas factory automation and storage commodity transfer.

Description

technical field

[0001] The invention relates to a dynamic avoidance method of multi-robots during cooperative operation. Background technique

[0002] In the environment of rapid development of logistics, industrial production and warehousing, more and more companies are accelerating the process of unmanned warehousing. With the increasing demand for warehousing scenarios, a warehousing usually requires several, dozens, or even more multitasking robot. This puts forward higher requirements for avoidance in the same scene. At present, most domestic robot manufacturers are in the early stage of development, and the avoidance and scheduling research of multi-robots started relatively late. Due to the difficulty and complexity of avoidance and algorithm implementation, most manufacturers do not have mature, reliable and efficient solutions. With the development of the market, it is urgent to solve the dynamic avoidance problem of multi-robots. Contents of the invention [0...

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