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Multi-logistics-robot movement control method and device

A technology of logistics robot and control method, applied in the field of multi-logistics robot mobile control

Pending Publication Date: 2021-04-02
BEIJING WUZI UNIVERSITY
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Problems solved by technology

[0004] The embodiment of the present invention provides a mobile control method and device for multi-logistics robots. By applying the improved SAC algorithm to layered reinforcement learning, the mobile control problem of multi-logistics robots is solved, and the problem of dimensional disaster of complex problems is solved, and the training is improved. s efficiency

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  • Multi-logistics-robot movement control method and device
  • Multi-logistics-robot movement control method and device
  • Multi-logistics-robot movement control method and device

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Embodiment Construction

[0150] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0151] The scale of the intelligent warehousing system is relatively large. In the actual work process, it needs the cooperation of multiple warehousing and logistics robots, that is, robots, that is, AGV robots. The warehousing logistics robot mainly adopts the warehousing logistics robot represented by Amazon's KIVA robot. How to make multiple robots cooperate to complete multiple tasks is still the focus and difficulty of realizing the multi-m...

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Abstract

The embodiment of the invention provides a multi-logistics-robot movement control method and device. The method comprises the steps of constructing an action space according to actions capable of being executed by robots; receiving an end point position in the task information; planning the moving path of the robots into one or more sub-target positions to form a sub-target position space; obtaining the final numerical values of the network parameters by training the numerical values of the network parameters of a hierarchical reinforcement learning network; and controlling the robots to complete the moving task through the hierarchical reinforcement learning network based on the final numerical values of the network parameters. The problem of dimension disasters of complex problems is solved while the mutual cooperative moving control of multiple logistics robots is realized, and the training efficiency is improved.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to a method and device for controlling the movement of multiple logistics robots. Background technique [0002] The logistics industry has entered the era of intelligent logistics that is highly informatized, automated, intelligent and networked. The efficient operation of each link of the smart logistics system is inseparable from the support of the smart warehousing system. The intelligent storage system uses the Internet of Things technology to perceive the storage status in real time, and applies artificial intelligence technology for data processing and analysis. Compared with the traditional storage system, the intelligent storage system has the characteristics of high efficiency, high fault tolerance, low labor cost, and strong robustness. The intelligent warehousing system will generate a large amount of information during its operation, which is characterized by the dyna...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0287G05D1/0289G05D1/0221G05D1/0088
Inventor 唐恒亮王安琪薛菲杨佳鑫曹阳
Owner BEIJING WUZI UNIVERSITY
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