A multi-robot routing optimization method and device

Abstract

The present invention provides a multi-robot routing optimization method and device. The method includes: forming a robot group with a plurality of robots, and obtaining a plurality of distance information from the ranging processing between any two robots in the robot group; In the process of sending and receiving between the two robots corresponding to the information, a plurality of communication data packets corresponding to the distance information are obtained; the positioning processing of each distance information is respectively performed to obtain the position information of multiple robots, and generates according to the position information of multiple robots An undirected graph of the robot group; the edge weights corresponding to each distance information and the corresponding communication data packet information are respectively processed to obtain the edge weights corresponding to the distance information. The invention can effectively reduce the length of the transmission path and the corresponding network delay, expand the range of activities of the robot, does not need to rely on pheromone, and improves the convergence speed.

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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