Multi-robot obstacle avoidance method and device, electronic equipment and storage medium

A multi-robot and robot technology, which is applied in the directions of instruments, motor vehicles, transportation and packaging, etc., can solve problems such as unsolved problems, high cost of robots, and higher and higher requirements for robot data processing capabilities, so as to reduce computing costs , Reduce the number of sensors, good adaptability and intelligent effect

Active Publication Date: 2022-05-06
JIHUA LAB
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  • Application Information

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Problems solved by technology

[0003] At present, the effective means of robot obstacle avoidance is mainly to realize autonomous obstacle avoidance through multi-sensor fusion. However, expensive sensors such as laser radar and depth camera l

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  • Multi-robot obstacle avoidance method and device, electronic equipment and storage medium
  • Multi-robot obstacle avoidance method and device, electronic equipment and storage medium
  • Multi-robot obstacle avoidance method and device, electronic equipment and storage medium

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[0049] The following will clearly and completely describe the technical scheme in the embodiment of the application in combination with the attached drawings in the embodiment of the application. Obviously, the described embodiments are only part of the embodiments of the application, not all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but only represents the selected embodiments of the present application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of this application.

[0050] It should be noted that similar labels and le...

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Abstract

The invention relates to the technical field of robot obstacle avoidance, and provides a multi-robot obstacle avoidance method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a global grid map and the global path of each robot; generating a cellular space according to the global grid map; the cellular space comprises a plurality of cells, and each cell is composed of at least one grid of a global grid map; generating a cellular state set according to the cellular space; the cell state set comprises cell state information of each cell, and the cell state information is used for representing the occupation condition of the corresponding cell; when the robot moves according to the corresponding global path, updating the cellular state set according to the position of each robot; performing local adjustment on the corresponding global path according to the occupancy condition of the cells in the sensing range of the robot; the method has the advantages of being good in adaptability and intelligence, small in calculation amount, easy to simulate and the like, and the calculation cost can be greatly reduced.

Description

technical field [0001] The present application relates to the technical field of robot obstacle avoidance, in particular, to a multi-robot obstacle avoidance method, device, electronic equipment and storage medium. Background technique [0002] Robot autonomous obstacle avoidance is the basic core function of fully automatic robots. Especially with the construction of fully automatic warehousing and logistics in recent years and the investment of a large number of handling robots, the real-time and high-efficiency requirements for multi-robot obstacle avoidance within the space range are increasingly demanding. high. [0003] At present, the effective means of robot obstacle avoidance is mainly to realize autonomous obstacle avoidance through multi-sensor fusion. However, expensive sensors such as laser radar and depth camera lead to high cost of robots, and at the same time, the requirements for robot data processing capabilities are getting higher and higher. . [0004] ...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0257G05D2201/0217
Inventor 彭云龙邓锦祥李伟张立华
Owner JIHUA LAB
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