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Meal delivery robot path optimization and task allocation method based on PETRI network

A food delivery robot and task allocation technology, applied in design optimization/simulation, instruments, motor vehicles, etc., can solve problems such as easy collision, food drop, loss, etc., to avoid collisions, serve customers well, and deliver Meal Efficiency

Inactive Publication Date: 2021-10-08
SHAANXI UNIV OF SCI & TECH
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  • Application Information

AI Technical Summary

Problems solved by technology

And when the number of robots is large, it is easy to collide, resulting in food falling and causing losses

Method used

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  • Meal delivery robot path optimization and task allocation method based on PETRI network
  • Meal delivery robot path optimization and task allocation method based on PETRI network
  • Meal delivery robot path optimization and task allocation method based on PETRI network

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Experimental program
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Embodiment 1

[0052] see figure 1 , the route optimization and task assignment method of food delivery robot based on PETRI network, including the following steps:

[0053] Step 1: Model the working environment of the food delivery robot, divide the robot work space into several rooms, and connect the rooms with one or more two-way doors. Considering that food delivery robots generally work indoors, each robot is not connected with the central control In addition to machine communication, each robot communicates with each other, and each robot makes independent decisions and moves autonomously;

[0054] Each room is considered a place P i , i=1,2,3,....,n, the robot starts from the room R i move to room R j called a transition Tk =(1,2,3,...,m), the number of robots in each room is called the Token of the place, then the robot’s food delivery problem is transformed into the problem of specifying a certain number of robots to reach the designated place through finite changes process.

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Abstract

The invention discloses a meal delivery robot path optimization and task allocation method based on a PETRI network, and belongs to the technical field of robot path optimization. The invention discloses the meal delivery robot path optimization and task allocation method based on a PETRI network, and the method comprises the following steps: 1, carrying out the modeling of a working environment of a meal delivery robot, dividing the working space of the robot into a plurality of rooms, and enabling the rooms to be connected through one or more bidirectional doors; 2, performing task allocation by the meal delivery robot; 3, assuming the task completion process of the meal delivery robot; and 4, establishing a model. According to the method, modeling analysis is carried out by applying a Petri network theoretical method, an optimal path is solved by applying an integer linear programming model so as to achieve the purpose of shortest time consumption, the path programming can enable the robot to complete a task at the fastest speed on the premise of ensuring the system stability in the moving process from an original point to a target point, mutual collision of the robots is avoided, the meal delivery efficiency is high, and the customer satisfaction is improved.

Description

technical field [0001] The invention relates to the technical field of robot path optimization, and more specifically, to a method for path optimization and task assignment of a meal delivery robot based on PETRI net. Background technique [0002] As a mechatronic system that integrates environmental perception, behavior control, and dynamic decision-making, mobile robots have been widely used in various fields because of their complete functions, system stability, and intelligence. As a robot with special functions, the food delivery robot can replace human beings to complete the restaurant's food delivery service, which can greatly reduce labor costs and reduce repetitive labor. [0003] In the process of completing the task of the food delivery robot, how to plan its route trajectory and efficiently complete the food delivery task has become the research focus of the collaborative work of the food delivery robot. meal efficiency. Moreover, when the number of robots is l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G06F30/22
CPCG05D1/0276G05D1/0219G06F30/22
Inventor 冯引安赵俊波
Owner SHAANXI UNIV OF SCI & TECH