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A real-time path planning method for multi-medical delivery robots

A technology of real-time path planning and robotics, applied in manipulators, data processing applications, program-controlled manipulators, etc.

Active Publication Date: 2022-04-26
SHAANXI UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The current research results on path planning cannot meet the above actual task requirements

Method used

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  • A real-time path planning method for multi-medical delivery robots
  • A real-time path planning method for multi-medical delivery robots
  • A real-time path planning method for multi-medical delivery robots

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Embodiment

[0051] The present invention provides a real-time path planning method for multi-medical distribution robots based on time Petri nets. Taking a hospital in Xi'an as an example, it is implemented according to the following steps:

[0052] Step 1 According to the surveyed hospital environment figure 1 Establish a reasonable Petri net model, such as figure 2 As shown, there are 73 places and 162 transitions in total.

[0053] The hospital environment is divided into several areas. The principle of division is: one room (ward, pharmacy, elevator room) is a warehouse, and the corridor is divided into several areas according to the room. Interconnected regions are connected by transitions, and the distance w between regions and the transit time θ are weighted on the transitions. Pass time changes with real-time traffic information.

[0054] Figure II All transition distance information of the model is 1 except those shown in Table 1;

[0055] Table 1 Information of each trans...

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Abstract

A method for real-time path planning of multi-medical delivery robots, comprising the following steps: 1) using time Petri nets to model the static environment of the hospital, and combining the mathematical characteristics of Petri nets, an integer linear programming problem is proposed to solve multi-robots with time window constraints Multi-task shortest path trajectory; 2) with the goal of minimizing the sum of robot paths, use the mathematical model established in step 1) to assign tasks to the robot and plan the path trajectory of each robot, on the basis of avoiding the forbidden area The sum of the shortest path trajectories of all delivery tasks completed on time. The invention can plan the paths and trajectories of the robots performing tasks on different floors, thereby effectively reducing the burden of heavy article distribution work for medical personnel.

Description

technical field [0001] The invention relates to the technical field of logistics distribution, in particular to a real-time path planning method for multi-medical distribution robots. Background technique [0002] In recent years, robotics has been one of the most popular research fields for human beings, and it has been widely used in various fields of agriculture, industry, and medicine. With the deepening of robot-related research, how to assign tasks and path planning to multi-robot systems is the research basis for multi-robot collaborative work and is also a current research hotspot. [0003] In recent years, robot path planning based on Petri nets has been a research hotspot. A large number of researchers focus on how to prevent robot deadlock, avoid obstacles, and coordinate multi-robot work on the basis of optimizing travel distance, energy consumption and other indicators. Costelha and Lima proposed a generalized stochastic Petri net model to handle robot task pl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20B25J9/16G06Q10/04
CPCG01C21/20B25J9/1664G06Q10/047
Inventor 何舟张瑞杰胡兴律汤伟
Owner SHAANXI UNIV OF SCI & TECH