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Multi-robot path planning method and device

A path planning, multi-robot technology, applied in the direction of instruments, motor vehicles, transportation and packaging, etc., can solve problems such as deadlock

Active Publication Date: 2021-05-18
ZHEJIANG UNIV
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  • Abstract
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Problems solved by technology

[0004] The purpose of the embodiment of the present application is to provide a multi-robot path planning method and device to solve the problem of deadlock in the related art where multiple robots run in the channel

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[0033] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.

[0034] The terminology used in this application is for the purpose of describing particular embodiments only, and is not intended to limit the application. As used in this application and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term...

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Abstract

The invention discloses a multi-robot path planning method and device, and belongs to the technical field of robot path planning, and the method comprises the steps: constructing a grid environment according to a robot channel environment, and carrying out the environment reconstruction of a cross point graph through reserving channel cross points; through a heuristic A * algorithm, performing one-time optimal path planning on a single robot in the cross point map environment; according to the primary optimal path, planning all channels in the cross point map environment as one-way streets; for the one-way streets, through the heuristic A * algorithm, carrying out secondary optimal path planning on a single robot in the cross point map environment; and aiming at the secondary optimal path, reconstructing a grid environment to obtain an optimal path in the grid environment. The defect that deadlock is caused by robot conflicts in channels in a traditional heuristic algorithm is overcome.

Description

technical field [0001] The present application relates to the technical field of robot path planning, in particular to a multi-robot path planning method and device. Background technique [0002] The multi-robot path planning problem is a problem that has been studied for many years, and the high complexity of solving this problem is caused by the conflict between robots. The traditional algorithm models the environment with an integer programming model, and uses the conflict between robots as a constraint to optimize the solution. This is a tedious and tedious process. When the scale of the environment increases, the complexity of solving the integer programming model will be one The process of increasing exponentially will occupy a large amount of computer resources, resulting in a further decrease in computing speed. In recent years, some heuristic algorithms have been proposed to reduce the complexity of solving multi-robot path planning models. The core of these heuri...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0217G05D1/0221
Inventor 郑荣濠霍嘉熹刘妹琴张森林
Owner ZHEJIANG UNIV
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