Multi-Robot Node Occupancy Control for Route Conflict Avoidance
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Solution Overview
Problem
Existing methods for managing the movement of multiple robots in autonomous driving environments face challenges in preventing route interferences and efficiently resolving local blockages, especially due to complex algorithms that increase load and decrease mobility.
Innovation Solution
A server-based method that coordinates route planning and movement by setting actually occupied and provisionally occupied nodes for each robot, ensuring non-overlap of nodes and dynamically adjusting moving routes to prevent blockages.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a method of determining moving routes of each robot so as not to interfere with each other is used, then route interference is prevented, but the system complexity and computational load increase
Solution Approach 1:
The patent segments the moving route into discrete nodes that can be individually managed and assigned. Each node can be occupied by only one robot at a time, creating a granular control structure that prevents route interference while maintaining manageable system complexity through modular node-based allocation rather than complex continuous path planning
Solution Approach 2:
The server pre-calculates and determines the moving routes for all robots before execution. By performing route determination in advance and establishing node occupancy assignments beforehand, the system prevents route conflicts without requiring complex real-time negotiation mechanisms during robot operation
2Reliability
If moving routes of all robots are set globally from the beginning to the end, then route interference is prevented, but the server load increases and mobility decreases
Solution Approach 1:
The route is segmented into discrete nodes that can be independently managed. This segmentation allows the server to handle route planning in manageable units rather than complex continuous paths, reducing computational load while maintaining global coordination for interference prevention
Solution Approach 2:
The patent applies different occupancy rules to different nodes based on local conditions. Each node can have its occupancy status independently determined, allowing the server to make localized decisions about node assignment rather than managing entire routes as monolithic entities, thereby reducing overall server load
3Reliability
If a complex algorithm is used to manage all moving routes, then route interference is prevented, but the ability to resolve local problems decreases and server load increases
Solution Approach 1:
By segmenting the route into discrete nodes, the system transforms a complex global optimization problem into simpler local node assignment decisions. Each node's occupancy can be independently determined based on simple rules, making local problem resolution straightforward while maintaining overall route coordination
Solution Approach 2:
The node-based system enables robots to independently determine their occupancy status based on simple node availability checks rather than requiring complex centralized algorithmic decisions. Each robot can autonomously assess whether a node is occupied and adjust accordingly, improving local problem resolution capability
Data Source
AI summary
Disclosed is a method of controlling a server for managing movement schedules of a plurality of robots. The control method includes receiving an occupancy request for at least one node matching a scheduled moving route from at least one of the plurality of robots; setting actually occupied nodes and provisionally occupied nodes of each of the plurality of robots based on the occupancy request; and transmitting occupancy permission information including the set actually occupied node and provisionally occupied node to each of the plurality of robots. In the setting of the actually occupied node and the provisionally occupied node, the actually occupied nodes and the provisionally occupied nodes of each of the plurality of robots are selected so that an actually occupied node of one robot does not overlap an actually occupied node or a provisionally occupied node of another robot.