Path planning method and system for multiple mobile robots, computer equipment and storage medium

A mobile robot and path planning technology, applied in computer equipment and storage media, multi-mobile robot path planning method, system field, can solve the problems of quadruple communication algorithm path tortuous, low efficiency, etc., to improve algorithm operation efficiency and search efficiency , the effect of improving efficiency

Pending Publication Date: 2022-07-01
XI AN JIAOTONG UNIV
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Problems solved by technology

[0009] The purpose of the present invention is to provide a multi-mobile robot path planning...

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  • Path planning method and system for multiple mobile robots, computer equipment and storage medium
  • Path planning method and system for multiple mobile robots, computer equipment and storage medium
  • Path planning method and system for multiple mobile robots, computer equipment and storage medium

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Embodiment Construction

[0055] In order to make the objectives, technical solutions and advantages of the present invention clearer, further detailed descriptions are given below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention, that is, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments.

[0056] The components described and illustrated in the drawings and embodiments of the present invention may be arranged and designed in a variety of different configurations, therefore, the detailed descriptions of the embodiments of the present invention provided in the following drawings are not intended to limit the claimed invention. scope, but only represents a selected embodiment of the present invention. Based on the drawings and embodiments of the present invention, all ...

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Abstract

The invention belongs to the technical field of multi-mobile-robot path planning, and relates to a multi-mobile-robot path planning method, which comprises the following steps of: abstracting an application scene into an eight-connected grid map; path planning is conducted on the mobile robots, conflict searching is used for path planning, a JPS algorithm is used as a global path planning method for bottom layer conflict searching, and paths of all the mobile robots are planned and then uploaded to high layer conflict searching; the high-level conflict search is used for searching conflicts among all paths; after the high-level detection conflicts, constructing a conflict tree; setting a barrier for the mobile robot needing path change at the node with the path conflict, and forbidding the mobile robot to pass through the node; the mobile robot calls an underlying JPS algorithm to re-plan a path; and after all conflicts are solved, outputting a path solution set, and issuing the path to the mobile robot. Through fusion of the JPS algorithm and the CBS algorithm, the problems of path zigzag and low efficiency of the four-link algorithm are solved.

Description

technical field [0001] The invention belongs to the technical field of multi-mobile robot path planning, and in particular relates to a multi-mobile robot path planning method, system, computer equipment and storage medium. Background technique [0002] The multi-robot path planning technology has become the main means of realizing the multi-robot mobile avoidance technology in the discrete manufacturing workshop environment. This requires that the multi-robot path planning has good adaptability to the factory environment, and at the same time can complete the path planning of multi-robots and the conflict avoidance of multi-robots. [0003] In the multi-mobile robot path planning technology for discrete manufacturing workshops, the manufacturing workshop will have different kinds of processes for different kinds of workpieces, and then the workshop logistics system needs to be quickly reconfigured, which means that the multi-mobile robot system can be quickly completed. Mo...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0263G05D1/0223G05D1/0221G05D1/0276G05D2201/02
Inventor 史晓军王迎新何晓南姚鑫胡佳祥
Owner XI AN JIAOTONG UNIV
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