Multi-robot routing optimization method and device

Abstract

The invention provides a multi-robot routing optimization method and device, and the method comprises the steps: enabling a plurality of robots to form a robot group, and measuring the distance between any two robots in the robot group to obtain a plurality of pieces of distance information; obtaining a plurality of pieces of communication data packet information in one-to-one correspondence withthe distance information from a transceiving process between the two robots corresponding to each piece of distance information; positioning each piece of distance information to obtain a plurality ofpieces of robot position information, and generating a robot group undirected graph according to the plurality of pieces of robot position information; and separately carrying out edge weight processing on each piece of distance information and the corresponding communication data packet information to obtain an edge weight value corresponding to the distance information. According to the method,the transmission path length and the corresponding network delay can be effectively reduced, the movement range of the robot is expanded, dependence on pheromones is not needed, and the convergence speed is increased.

Description

technical field [0001] The present invention mainly relates to the technical field of robot communication, in particular to a multi-robot routing optimization method and device. Background technique [0002] In some special occasions such as virgin forest exploration, lunar surface exploration, and deep mine construction, robots play a pivotal role. However, it is very troublesome to deploy communication and positioning infrastructure on a large scale in these special occasions. The robot group does not depend on other infrastructure positioning systems and temporary multi-hop autonomous network systems. [0003] The function of the multi-robot routing protocol is to communicate with the node robot (SINK) directly or indirectly from any robot, and then maintain communication with the main control center through the node robot. It mainly selects a suitable signal transmission path, whether the path is good or bad It is related to the network throughput, delay and network per...

AI Technical Summary

Problems solved by technology

However, the ant colony algorithm is a method that simulates ants foraging for food in nature to find the shortest path. It is highly dependent on pheromones, and the convergence speed is slow, and it is easy to fall into a local optimal solution. It is not suitable for complex and changeable multi-robot communication.

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