Multi-robot path rapid planning method applied to storage environment

A multi-robot, path planning technology, applied in the direction of instruments, vehicle position/route/height control, control/regulation systems, etc., can solve problems such as increasing the complexity of the problem and difficult to solve the problem

Active Publication Date: 2020-08-04
BEIJING UNIV OF CHEM TECH
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Problems solved by technology

[0005] At the same time, in the storage environment, when multiple robots are working together, each robot can have multiple tasks, that is, each robot has to pass through multiple target points during a journey, and finally reach the destination. In previous studies, Most researchers ignore this problem intentionally or unintentionally, because it will increase the complexity of the problem and make the problem more difficult to solve

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  • Multi-robot path rapid planning method applied to storage environment
  • Multi-robot path rapid planning method applied to storage environment
  • Multi-robot path rapid planning method applied to storage environment

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Embodiment Construction

[0037] 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.

[0038] Step 1: The storage environment is built according to the real storage environment through MATLAB, and shelf obstacles are set up, such as figure 2 shown;

[0039] Step 2: Multiple assigned tasks or non-assigned tasks in the environment, and specify the starting point and target point of multiple robots;

[0040] Step 3: If it is an assigned task, the remaining steps are Step 4 to Step 8; if it is a non-assigned task, the remaining steps are Step 9 to Step 20;

[0041] Step 4: Use the A* algorithm to plan the path of each robot;

[0042] Step 5: Sorting the multiple areas where collisions occurred in chronological order;

[0043] S...

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Abstract

The invention discloses a multi-robot path rapid planning method applied to a storage environment, and belongs to the technical field of robot path planning. The algorithm is applied to an automatic guided vehicle (AGV), multi-robot multi-task collision-free path planning can be rapidly achieved in a large-scale warehouse, the calculation time and computer resources are greatly saved, and the real-time performance of a warehousing system is improved. The core algorithm of the method is the combination of an A * algorithm and a network flow algorithm. The invention further provides a corresponding task allocation algorithm for non-assigned tasks. The algorithm avoids the waste of time and computer resources in engineering practice, and a suboptimal solution of multi-robot multi-task path planning can be obtained with less time and memory.

Description

technical field [0001] The invention relates to the technical field of robot path planning, in particular to a multi-robot path rapid planning method applied in a storage environment. Background technique [0002] In recent years, with the rapid development of e-commerce, the workload of parcel sorting has continued to increase, the requirements for operation efficiency, accuracy and customer experience have also continued to increase, and the scale of commodity warehouses has also gradually increased. How to quickly and accurately sort goods Sorting is a growing concern. In this context, sorting robots are being used more and more widely, and the path planning problem of robots has become a key technical problem in the fields of cargo transportation and express sorting. The layout of the storage environment is regular, and the aisle is narrow, which is very suitable for single-machine path planning with the A* algorithm. [0003] In recent years, because the network flow ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221
Inventor 胡标徐圣杰曹政才黄冉
Owner BEIJING UNIV OF CHEM TECH
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