Robot time sequence task planning method and device and electronic equipment

A robot and timing technology, applied in the direction of instruments, design optimization/simulation, resources, etc., can solve the problem that it is difficult to efficiently solve the problem that the robot has individual timing tasks and global collaborative timing tasks at the same time, so as to reduce waiting time, protect private information, overcome more complex effects
CN113408949AActive Publication Date: 2021-09-17ZHEJIANG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
ZHEJIANG UNIV
Publication Date
2021-09-17

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Abstract

The invention belongs to the field of robot task planning, and provides a robot time sequence task planning method which comprises the following steps: acquiring environment information of a working area and performing discretization modeling on the working area; obtaining an individual time sequence task requirement and a cooperative time sequence task requirement of the robot; searching a collaborative task sequence according to collaborative time sequence task requirements; constructing a collaborative subtask allocation model according to the collaborative task sequence, and solving a collaborative subtask allocation result; and sending the collaborative sub-task allocation result to the robot, so that the robot individually calculates a task execution plan. According to the method, the problem of multi-robot planning under the constraint of individual and global complex time sequence tasks can be efficiently solved, the method has good expansibility, and the limitation of unstable regional communication can be overcome; in addition, the privacy information of the individual robot can be effectively protected while the calculation load is dispersed.
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Description

technical field

[0001] The present application relates to the technical field of robot task planning, and in particular to a method and device for time-sequential task planning of a robot, and electronic equipment. Background technique

[0002] Mission planning problems exist widely in social life, such as data collection, continuous observation, and smart logistics. In recent years, more and more researches have begun to focus on the task planning problem of robots under complex timing constraints to solve more complex task requirements in real production. The task planning method based on model checking theory can use formal languages ​​such as Linear Temporal Logic (LTL) language to describe more complex task timing constraints, such as task sequence constraints, safety obstacle avoidance constraints, response constraints, etc. Therefore, it has received extensive attention and research.

[0003] Existing methods are difficult to effectively deal with the following tech...

Claims

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