Multi-Robot Path Planning With Goal-Less Robot Coordination
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Solution Overview
Problem
Existing multi-robot path planning algorithms assume that all robots have assigned goals, which is not always the case in real-world systems. This leads to difficulties in planning optimal paths, especially when goal-less robots are present.
Innovation Solution
A path planning device that accepts input data for multiple moving bodies, including at least one robot with a goal and one goal-less robot. The device plans behavior until the goal-reaching time for the goal-oriented robot, considering the movements and behaviors of all robots to avoid conflicts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If existing multi-robot path planning algorithms are used, then paths can be planned for robots with assigned goals, but optimal paths cannot be planned when goal-less robots are present
Solution Approach 1:
The patent applies dynamics by making the goal assignment dynamic rather than static. Robots can transition between having goals and being goal-less during operation. The path planning system dynamically adjusts to accommodate robots that may acquire or lose goals during execution, allowing the system to adapt to changing operational requirements while maintaining optimal path planning through real-time reevaluation of the planning horizon.
2Adaptability or versatility
If all robots are assumed to have goals, then path planning can be performed using existing algorithms, but the system cannot accommodate real-world scenarios where some robots lack goals
Solution Approach 1:
The patent implements universality by creating a path planning algorithm that serves multiple functions: it can handle robots with fixed goals, robots without goals, and dynamically changing goal assignments all within a single unified framework. The planning horizon mechanism provides a universal approach that works across different robot configurations and operational scenarios, eliminating the need for separate algorithms for different goal assignment cases.
3Reliability
If the planning horizon is extended to accommodate goal-less robots, then all robots can be planned simultaneously, but the computational complexity increases
Solution Approach 1:
The patent applies preliminary action by pre-defining a planning horizon based on the maximum time required for any robot with a goal to reach its destination. This preliminary calculation of the planning horizon allows the system to prepare the computational framework in advance, knowing the exact time boundary within which all robot behaviors (including goal-less robots) must be planned. This prevents unnecessary computational extensions while ensuring complete planning coverage.
Data Source
AI summary
A path planning device of the present disclosure includes: an input unit that accepts an input of data to be used in path planning, with respect to all of multiple moving bodies present in environment to be subjected to the path planning, in which the multiple moving bodies include at least one first moving body having a goal and at least one second goal-less moving body; and a planning unit that plans behavior until the time at which the first moving body has reached the goal, with respect to all of the multiple moving bodies, on the basis of the data inputted into the input unit.