A Design Method for Multi-Sensor-Based Multi-Mobile Robot Scheduling System

Abstract

The invention belongs to the field of computer vision technology and robot control technology. A multi-sensor based multi-mobile robot dispatching system design method includes the following steps: (1) building a plurality of mobile robot platforms, (2) building a two-dimensional experimental scene map and Realize multi-robot wireless communication, (3) design global path planning, (4) design task assignment, (5) design multi-robot collision prevention strategy, (6) develop multi-robot scheduling platform software. The invention has the following advantages: 1. The free movement range of the robot is expanded by adopting the trackless autonomous navigation mode. 2. Distributed control is adopted for multi-robots, which improves the dynamic coordination and stability of the entire dispatching system. 3. Use the laser radar and the depth real-sensing camera sensor to simultaneously identify and detect the surrounding environment of the robot, which improves the safety of the robot during the entire task execution process.

Description

technical field [0001] The invention relates to a multi-sensor based multi-mobile robot dispatching system design method, which belongs to the field of computer vision technology and robot control technology. Background technique [0002] In recent years, with the rapid development of wireless network, computer vision, autonomous navigation, SLAM and other technologies, as well as the improvement of hardware performance such as CPU and sensors, the field of robotics has a broader development prospect. Compared with the past, the recognition accuracy of the current robot to the surrounding environment is getting higher and higher, and the ability to process various data is also getting stronger and stronger. It is constantly developing in a more intelligent direction and has begun to be applied to various field. From service robots in the service industry to autonomous sorting and handling robots in the logistics industry, intelligent robots are everywhere. However, with th...

AI Technical Summary

Problems solved by technology

This navigation method has many disadvantages. First, the robot is restricted to run on a fixed track, which greatly limits the range of movement of the robot. Second, the working scene space is fixed. If you want to change the working scene or add additional transportation points, you must Local or even global rails must be redeployed; finally, rails may wear out over time, requiring additional repair costs

In addition, the current multi-mobile robot scheduling system mostly adopts a centralized control method. Although this method has good coordination and is easy to obtain the optimal solution when assigning tasks, when there is a problem in the control center, the entire system is prone to operational failures.

At the same time, for individual robots, in many complex dynamic environments, it may be difficult to ensure the safety of mobile robots during the entire transportation process only by relying on the environmental information collected by a single sensor.

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