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Multi-robot path planning method based on conflict detection

A path planning and conflict detection technology, applied in instruments, motor vehicles, two-dimensional position/channel control, etc., and can solve problems such as distance robot collision and path conflict

Active Publication Date: 2021-05-25
ZHEJIANG UNIV
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  • Summary
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  • Claims
  • Application Information

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Problems solved by technology

[0004] The object of the present invention is to solve the path conflict problem of multi-robot path planning, path conflict here refers to the conflict that two or more robots are due to arrive at the same position at the same time when advancing along the planned path, and Possible collisions between robots due to the small distance between the planned paths

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  • Multi-robot path planning method based on conflict detection
  • Multi-robot path planning method based on conflict detection
  • Multi-robot path planning method based on conflict detection

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Embodiment Construction

[0035] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, and the purpose and effects of the present invention will become more apparent.

[0036] figure 1 The method flow chart of the present invention is given, and the multi-robot path planning method based on conflict detection in the present invention is mainly divided into six steps: (1) establish a grid map; (2) form a distributed network with multiple robots using ROS; (3) the target point of robot path planning is set, and the robot requests path planning authority after obtaining the path planning target point; (4) if the robot obtains path planning authority, then use the improved A* path planning algorithm proposed by the present invention to plan; ( 5) Publish the planned path using the ROS Service communication mechanism; (6) Delete the previously released path information when the robot reaches the target point.

[0037] ROS is ...

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Abstract

The invention discloses a multi-robot path planning method based on conflict detection, and the method comprises the steps: firstly building a grid map, enabling robots needing path planning in an environment to form a distributed network, and then requesting path planning authority after the robots obtain path planning target points, after the authority is obtained, using an improved A* path planning algorithm provided by the invention for planning, then publishing a planned path by using an ROS Service communication mechanism, and finally, deleting path information published before after the robot reaches a target point. Simulation experiments prove that the problem of path conflict of multiple robots can be effectively avoided.

Description

technical field [0001] The invention relates to the technical field of robot path planning, in particular to a method for multi-robots to plan a path that does not conflict with other robots by considering the paths already planned by other robots in the current environment when planning paths. Background technique [0002] Robot path planning technology is an important part of robot navigation technology. The path planning problem is that the robot plans a continuous collision-free path from the current position to the end point according to the actual optimization criteria. Common path planning algorithms include Dijkstra algorithm, A* algorithm, D* algorithm, etc. and improved algorithms for these algorithms. Among them, the A* algorithm is a heuristic search algorithm, which retains the advantage of the Dijkstra algorithm that can plan the shortest path, uses the heuristic function to evaluate the cost from the current point to the target point, reduces search time and c...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0217G05D1/0221
Inventor 张德昊杜歆
Owner ZHEJIANG UNIV