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A Multi-robot Path Planning Method Based on Conflict Detection

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

Active Publication Date: 2022-05-13
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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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  • A Multi-robot Path Planning Method Based on Conflict Detection
  • A Multi-robot Path Planning Method Based on Conflict Detection
  • A 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. The method first establishes a grid map, forms a distributed network of robots that need path planning in the environment, and then requests path planning after the robot obtains the path planning target point. After obtaining the authority, use the improved A* path planning algorithm proposed by the present invention to plan, then use the ROS Service communication mechanism to publish the planned path, and finally delete the previously published path information when the robot reaches the target point. Simulation experiments prove that the present invention can effectively avoid the multi-robot path conflict problem.

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...

Claims

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Application Information

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