Multi-logistics robot collaborative path planning method based on task priority

A logistics robot and task priority technology, applied in the direction of instruments, motor vehicles, two-dimensional position/channel control, etc., can solve the problems of ignoring particularity, ignoring, and the existence of optimization space in the obtained path, so as to improve logistics efficiency and optimize The effect of planning paths and avoiding unnecessary detours

Active Publication Date: 2021-06-25
HUNAN UNIV
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Problems solved by technology

[0005] (2) The conflict handling method of the CA* algorithm completely depends on the global reserved table, ignoring the possibility of multi-robot cooperative behavior to avoid dynamic obstacles, and its cost function also ignores the particularity of multi-robot path planning compared to single-machine, There is room for optimization in the cost of the resulting path

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  • Multi-logistics robot collaborative path planning method based on task priority
  • Multi-logistics robot collaborative path planning method based on task priority
  • Multi-logistics robot collaborative path planning method based on task priority

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[0043] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0044] Aiming at the existing problems, the present invention provides a multi-logistics robot collaborative path planning method based on task priority, such as figure 1 As shown, a kind of multi-logistics robot cooperative path planning method based on task priority of the present invention comprises the following steps:

[0045] Step S1, input the warehouse map and logistics task list: the warehouse map includes feasible paths, location nodes, static obstacles (such as walls, shelves, charging piles) and warehouse map storage map size information; the logistics task list includes the complete logistics of all tasks Demand, specifically including the timeliness level of the goods transported in each task, the AGV (Automated Guided Vehicle, automatic gu...

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Abstract

The invention provides a multi-logistics robot collaborative path planning method based on task priority. The method comprises the following steps of S1, inputting a warehouse map and a logistics task list; S2, calculating priority of each task in the task list, traversing the task list, and calculating priority of each task according to the aging grade of the current cargo and the residual electric quantity of the current AGV; and S3, generating an ordered task list according to priority descending sort, traversing the ordered task list by using an improved CA* algorithm, planning a feasible path for each task in sequence, and outputting all task paths. According to the method, the improved CA * algorithm is adopted, the in-situ waiting behavior of the robot is introduced during multi-machine conflict, the unnecessary detour behavior of the robot with the low priority is avoided, resources can be saved when the logistics task of the warehousing system is executed, and efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of path planning for mobile robots, in particular to a multi-logistics robot collaborative path planning method based on task priority. Background technique [0002] As one of the three cores of Industry 4.0, intelligent logistics has received widespread attention; the rapid development of e-commerce has also brought unprecedented volume and complexity of waybills to the warehousing and logistics industry. In order to improve work efficiency, multiple logistics robots have been used in automated warehouses to deliver goods at the same time. In this process, a reasonable multi-robot path planning algorithm is needed to help multiple mobile robots in the warehouse avoid collisions (including collisions between robots and environmental obstacles, and collisions between mobile robots) and reach the delivered goods at the lowest possible cost. target location. [0003] The A* (A-Star, the most effective direct ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0287G05D2201/0217
Inventor 缪志强鲁媛李嘉诚黑泽仁于天宇廖邦彦王凡硕
Owner HUNAN UNIV
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