Method for detour scheduling based on large-scale grid map

Abstract

The application relates to the technical field of path planning, and provides a detour scheduling method based on a large-scale grid map, which can perform multidimensional verification on each detour request according to corresponding request parameters and strategy parameters of each detour request, so as to filter non-compliant requests in advance and avoid out-of-control temporary detours; the method performs token distribution to the queue according to the scheduling priority score and the estimated arrival time, the idle capacity and the like of each detour request in the queue, so as to solve the problem of multi-machine competition disorder; the method performs detour path planning on a target robot corresponding to each target request based on an earliest return mechanism and a cost function in the combination of a permission normal layer and an execution state temporary expansion layer, so as to improve the utilization rate of the execution state temporary expansion layer and also realize real-time and reasonable detour scheduling and path planning.

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