Planning and dynamic supervision control method for multi-robot operation process

Abstract

The invention discloses a planning and dynamic supervision control method for a multi-robot operation process. The method comprises the steps that 1, setting a plurality of assumed conditions and related definitions; 2, planning and realizing alliance behaviors; 3, describing conditions of alliance behavior Petri networks; 4, planning and realizing alliance structure behaviors; and 5, performing formal language description and dynamic monitoring. On the basis of realizing action and task planning through an artificial intelligence method, a condition for forming a composite network by the plurality of Petri networks is established; four new character operators are designed, and the purposes of describing the alliance or alliance structure sequence through a form language generated by an event set (an action set or a sub-task set) and synchronizing and issuing the alliance or alliance structure sequence are achieved; and graphics unit symbols corresponding to the character operators are established, and graphical analysis form behaviors are realized. In the implementation process of an alliance structure planning result, a dynamic monitor is designed to reduce the computational complexity existing in a system and adapt to current available robot limitations.

Description

technical field [0001] The invention relates to the technical field of mobile robot planning, in particular to a method for planning and dynamic supervision and control of a multi-robot operation process. Background technique [0002] At present, in terms of mobile robot planning technology, the path planning technology of a single robot is rich in achievements and more widely used. These technologies can be divided into path planning methods for indoor / outdoor, static / dynamic, two-dimensional / three-dimensional environments, and various The multi-robot planning method is relatively limited, and the representative ones are multi-robot collaborative path planning, middleware-based multi-robot collaboration, etc. On the other hand, in the scenario where mobile robots equipped with manipulators are required to work together, subtasks and action planning are involved in the multi-robot operation process. In terms of the connection between the planning results and the monitoring l...

AI Technical Summary

Problems solved by technology

On the other hand, in the scenario where mobile robots equipped with manipulators are required to work together, subtasks and action planning are involved in the multi-robot operation process. In terms of the connection between the planning results and the monitoring layer, the supervisory control method based on formal languages ​​and automata has advantages. The advantages of formal description, using the concurrent product of automata to describe the concurrent behavior in the system, the problem is the state explosion of the system, Petri net can describe the concurrent behavior but lacks formal expression, these undoubtedly have a great impact on the establishment of formal monitoring implements the planned results of the device and forms an obstacle

Finally, task-level planning and implementation are limited by both the collaborative relationship and the number and types of robots currently available, and there is still a lack of effective solutions

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