Mobile robot hybrid scheduling method based on topological map

Abstract

The invention provides a mobile robot hybrid scheduling method and system based on a topological map. The hybrid scheduling method pre-establishes the topological map and acquires size information andposition information of a target robot and an obstacle, and the method comprises the following steps: acquiring a robot moving and rotating sweeping area according to the size and position of the robot; obtaining a robot planning path, and establishing a geometric intersection judgment function according to the robot sweeping area and the obstacle size; judging the geometric intersection condition of the robot according to the position and moving mode of the robot; and maintaining or replanning path by combining geometric intersection condition and map information. According to the robot hybrid scheduling method provided by the invention, the accurate geometric intersection judgment function is established, and the robot scheduling operation is executed through algorithm deep optimizationso that the operand is reduced and the scheduling efficiency is improved on the basis of realizing a high space utilization rate.

Description

[0001] field of invention [0002] The invention relates to the field of robots, in particular to a robot hybrid scheduling method based on topological maps. [0003] Background of the invention [0004] In the existing technology, grid maps are usually used for robot scheduling. Forward search algorithms are usually used in robot grid maps, which need to be combined with geometric judgment in complex environments. Due to different types of robots, the height, shape, and eccentricity of the robot itself Waiting for its own parameters will lead to the construction of the robot's geometric judgment will be very complicated. In the traditional grid map, only one binary number is needed to store the passing state of the node, and the robot can move and rotate arbitrarily within the passable node area, but the traditional forward search algorithm cannot detect the movement of the robot in the grid map. Computing on the side, what kind of edge and attitude the robot can reach the de...

AI Technical Summary

Problems solved by technology

[0004] In the existing technology, grid maps are usually used for robot scheduling. Forward search algorithms are usually used in robot grid maps, which need to be combined with geometric judgment in complex environments. Due to different types of robots, the height, shape, and eccentricity of the robot itself Waiting for its own parameters will lead to the construction of the robot's geometric judgment will be very complicated

In the traditional grid map, only one binary number is needed to store the passing state of the node, and the robot can move and rotate arbitrarily within the passable node area, but the traditional forward search algorithm cannot detect the movement of the robot in the grid map. Computing on the side, what kind of edge and attitude the robot can reach the designated node is impossible in the existing technical solutions. The robot dispatching ability of the robot is limited, and the utilization rate of the map space is limited

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