CN108268040A - The method for collision management and system of multiple mobile robot - Google Patents
The method for collision management and system of multiple mobile robot Download PDFInfo
- Publication number
- CN108268040A CN108268040A CN201810055329.6A CN201810055329A CN108268040A CN 108268040 A CN108268040 A CN 108268040A CN 201810055329 A CN201810055329 A CN 201810055329A CN 108268040 A CN108268040 A CN 108268040A
- Authority
- CN
- China
- Prior art keywords
- node
- mobile robot
- region
- holding time
- path planning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000013439 planning Methods 0.000 claims abstract description 81
- 238000007726 management method Methods 0.000 claims abstract description 15
- 230000004888 barrier function Effects 0.000 claims description 10
- 238000013468 resource allocation Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The embodiment of the present invention provides a kind of method for collision management and system of multiple mobile robot, belongs to robot field.The method for collision management of the multiple mobile robot includes:Obtain the respective current location of multiple mobile robots and path planning；Node resource table is established according to the current location of multiple mobile robots and path planning, record has arbitrary the two in correspondence and the multiple mobile robot ID between mobile robot ID, node region ID and holding time three not correspond to the same holding time under same node region ID jointly in node resource table wherein in node resource table；And the multiple mobile robots of control respectively according to mobile robot ID respective in node resource table corresponding to holding time, occupy the node region of corresponding node region ID.The problem of eliminating path conflict of the mobile robot at Execution plan path as a result, and colliding, and optimize the conevying efficiency of mobile robot in space.
Description
Technical field
The present invention relates to robot field, more particularly to the method for collision management and system of multiple mobile robot.
Background technology
Lay multiple mobile robots in the close quarters (such as logistics warehouse region), and by these mobile robots Lai
Such as transporting goods for task is completed, is the research emphasis of current Internet of Things field to substitute hand labor.
In order to avoid the collision between multiple mobile robots in close quarters in operation, generally employ at present
The different processing scheme of the following two kinds：First, being by the current local environmental information of robot, robot is allowed to have good
Conflict resolution ability；Second, it is centralized management formula conflict resolution, mainly by the way that the motion path of robot to be segmented to disappear
Except conflict.
But present inventor found during the application is put into practice it is above-mentioned in the prior art at least exist it is as follows
Defect：First, although distributed method operation is simple, real-time and flexibility are strong, due to will appear local extreme points, often without
Method completely completes task；Second, centralized management formula method can relatively accurately perform task, but be easy to that robot is caused to transport
Row path conflict, will usually find optimal solution, but calculation amount is very big, real-time is poor, this current industry still can not be proposed compared with
Good solution.
Invention content
The purpose of the embodiment of the present invention is to provide the method for collision management and system of a kind of multiple mobile robot, to preferable
Ground solves the problems, such as path conflict of the multiple mobile robot in close quarters caused by centralized dispatching.
To achieve these goals, the embodiment of the present invention provides a kind of method for collision management of multiple mobile robot, including：
The respective current location of multiple mobile robots and path planning are obtained, wherein the path planning can be got around in presumptive area
Barrier and the presumptive area include multiple node regions；According to the current location of the multiple mobile robot and
The path planning establishes node resource table, wherein record has mobile robot ID, node region ID in the node resource table
Arbitrary the two in correspondence and multiple mobile robot ID between holding time three is provided in the node
The same holding time under same node region ID is not corresponded in the table of source jointly；And the multiple mobile robot difference of control
According to the holding time corresponding to respective mobile robot ID in the node resource table, occupy corresponding node region ID's
Node region.
Specifically, node resource table packet is established in the position and the path planning according to the multiple mobile robot
It includes：Obtain the respective movement speed of the multiple mobile robot；According to the movement speed, the multiple mobile machine is determined
People be able within the unit interval by unit distance；According to the current location of the multiple mobile robot, the list
The size of position distance, the path planning and the node region, determines to be each shifting in the node resource table
The node region ID and corresponding holding time that mobile robot ID is distributed respectively.
It is specifically, described according to the current location of the multiple mobile robot, the unit distance, the path planning
And the size of the node region, determine that each mobile robot ID is distributed respectively in the node resource table
Node region ID and corresponding holding time include：According to the respective current location of first movement robot and the second robot,
The size of the unit distance, the path planning and the node region is distributed multiple for the first movement robot
First node region and corresponding first holding time and distribute multiple second node regions for second mobile robot
And corresponding second holding time；And when there are first node regions one of them described and one of them described second node
When region is identical, judge the first holding time corresponding to one of first node region with it is described one of them second
The second holding time corresponding to node region is with the presence or absence of coincidence；If so, label is described to have described wherein one overlapped
A second node region is conflicting nodes region, and again for the second mobile robot distribution node region ID and accordingly
Holding time.
Specifically, described is the second mobile robot distribution node region ID and corresponding holding time packet again
It includes：For the previous node region volume relative to the conflicting nodes region on the path planning of second mobile robot
Outer distribution holding time, to extend residence time of second mobile robot in the previous node region, wherein,
The residence time is not less than its time by the conflicting nodes region distributed by the first movement robot.
Specifically, described is the second mobile robot distribution node region ID and corresponding holding time packet again
It includes：Judge that the first path planning of the first movement robot and the second path planning of second mobile robot are passing through
It crosses at the conflicting nodes region with the presence or absence of coincidence；If in the presence of by the conflicting nodes area in the node resource table
Domain and corresponding holding time replace with the node region adjacent with the previous node region and corresponding holding time.
Preferably, the respective current location of the multiple mobile robots of acquisition and path planning include：To each described
Mobile robot sends traffic order, wherein the traffic order includes the destination node area information of each mobile robot；
In response to the traffic order, path planning is received from the multiple mobile robot, wherein the path planning is each institute
State mobile robot according to respective destination node area information and pass through A* algorithms calculate determined by.
On the other hand the embodiment of the present invention provides a kind of conflict managementsystem of multiple mobile robot, including:It obtains single
Member, for obtaining the respective current location of multiple mobile robots and path planning, wherein the path planning can get around it is pre-
The barrier and the presumptive area determined in region include multiple node regions；Node resource table establishes unit, for basis
The current location of the multiple mobile robot and the path planning establish node resource table, wherein in the node resource table
Record has correspondence and the multiple moving machines between mobile robot ID, node region ID and holding time three
Arbitrary the two in device people ID does not correspond to the same holding time under same node region ID jointly in the node resource table；
And control occupies unit, for controlling the multiple mobile robot respectively according to respective movement in the node resource table
Holding time corresponding to robot ID occupies the node region of corresponding node region ID.
Specifically, the node resource table is established unit and is included：Speed acquiring module, for obtaining the multiple moving machine
The respective movement speed of device people；Unit distance determining module, for according to the movement speed, determining the multiple mobile machine
People be able within the unit interval by unit distance；Resource distribution module, for according to the multiple mobile robot
Current location, the unit distance, the size of the path planning and the node region, determine in the node resource
It is the node region ID and corresponding holding time that each mobile robot ID is distributed respectively in table.
Specifically, the resource distribution module includes：Resource allocation component, for according to first movement robot and second
The respective current location of robot, the unit distance, the size of the path planning and the node region are described the
One mobile robot distributes multiple first node regions and corresponding first holding time and is second mobile robot
Distribute multiple second node regions and corresponding second holding time；Collision detection module, for when there are described in one of them
First node region is right with when second node region is identical one of them described, judging one of first node region institute
The first holding time answered whether there is with the second holding time corresponding to one of second node region to be overlapped；Punching
It is prominent to solve module, for if so, the label one of second node region that there is coincidence is conflicting nodes area
Domain, and be the second mobile robot distribution node region ID and corresponding holding time again.
Optionally, the conflict-solving module is used to be to move machine described second relative to the conflicting nodes region
Previous node region additional allocation holding time on the path planning of people, to extend second mobile robot described
Residence time in previous node region, wherein, the residence time passes through described not less than the first movement robot
The time in conflicting nodes region.
Specifically, the conflict-solving module is used to judging the first path planning of the first movement robot and described
Second path planning of the second mobile robot is overlapped by whether there is at the conflicting nodes region, if in the presence of will
The conflicting nodes region and corresponding holding time in the node resource table, replace with and the previous node region
Adjacent node region and corresponding holding time.
Preferably, the acquiring unit includes：Traffic order sending module, for being sent to each mobile robot
Traffic order, wherein the traffic order includes the destination node area information of each mobile robot；Path planning obtains mould
Block, for receiving path planning from the multiple mobile robot, wherein the path planning is each mobile robot
Determined by according to respective destination node area information and passing through the calculating of A* algorithms.
Through the above technical solutions, current location and the path planning of mobile robot are obtained, and according to multiple moving machines
The current location of device people and path planning establish node resource table, and any two mobile robot in node resource table
The same holding time under same node region ID will not be corresponded between ID, multiple mobile robots is further controlled to press respectively
The node of corresponding node region ID is occupied according to the holding time corresponding to mobile robot ID respective in node resource table
Region.As a result, in the scheduling process to mobile robot, the node resource table comprising time variable is introduced, is avoided
Same time point Liang Ge robots exist together the situation of a node, eliminate path of the mobile robot at Execution plan path
The problem of conflicting and colliding；Also, the maintenance of node resource table can be realized in embodiments of the present invention, processor is provided
The low consumption in source has stronger real-time；In addition, implementation through the embodiment of the present invention, also achieves to the reasonable of resource
Distribution so that under the premise of not clashing, efficiently using the space resources of closed area and increasing concurrent tasks
Quantity optimizes the conevying efficiency of mobile robot in space.
The other feature and advantage of the embodiment of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is that the embodiment of the present invention is further understood for providing, and a part for constitution instruction, under
The specific embodiment in face is used to explain the embodiment of the present invention, but do not form the limitation to the embodiment of the present invention together.Attached
In figure：
Fig. 1 is the map of the close quarters of the method for collision management for the multiple mobile robot for implementing one embodiment of the invention
Example；
Fig. 2 is the flow chart of the method for collision management of the multiple mobile robot of one embodiment of the invention；
Fig. 3 is the flow chart about the path planning method for obtaining mobile robot in one embodiment of the invention；
Fig. 4 is the example about the Node distribution table of presumptive area in one embodiment of the invention；
Fig. 5 is the example of the node resource table about 3-D walls and floor；
Fig. 6 is the example of the node resource table of one embodiment of the invention；
Fig. 7 is the example of the flow chart for establishing node resource table of one embodiment of the invention；
Fig. 8 is that one embodiment of the invention by the node resource table of distribution solves mobile robot a party to a conflict face
Example；
Fig. 9 A are the examples that situation is clashed between the mobile robot of one embodiment of the invention；
Fig. 9 B are being conflicted the opposing party to solve mobile robot by the node resource table of distribution for one embodiment of the invention
The example in face；
Fig. 9 C are being conflicted the opposing party to solve mobile robot by the node resource table of distribution for one embodiment of the invention
The example in face；
Fig. 9 D are being conflicted the opposing party to solve mobile robot by the node resource table of distribution for one embodiment of the invention
The example in face；
Figure 10 is the structure diagram of the conflict managementsystem of the multiple mobile robot of one embodiment of the invention.
Reference sign
A1, A0 mobile robot B1, B2 barrier
502 node resource table of N1, N2 node establishes unit
The control of 501 acquiring units 503 occupies unit
The conflict managementsystem of 50 multiple mobile robots
Specific embodiment
The specific embodiment of the embodiment of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, be not intended to restrict the invention embodiment.
As shown in Figure 1, the close quarters of the method for collision management in the multiple mobile robot for implementing one embodiment of the invention
Map in be labelled with multiple barrier B1, B2 etc., multiple mobile robots A0, A1 etc. and multiple node region N1, N2
Deng.Wherein, which can be that institute as needed is scheduled, such as it can refer to the region in warehouse, multiple
Mobile robot A0, A1 can refer to multiple merchandising machine people and be moved by the operation of mobile robot A0, A1,
It can realize and transport goods, but when multiple merchandising machine people run simultaneously, may result in conflict.Wherein, it is different
The size of node region N1, N2 can be equal, can pass through and institute's shape is divided to the map making equal proportions of close quarters
Into.It should be noted that the method for collision management of the embodiment of the present invention can be by managing multiple mobile robot concentratedly
Performed by server.
As shown in Fig. 2, the method for collision management of the multiple mobile robot of one embodiment of the invention includes:
S201, the respective current location of the multiple mobile robots of acquisition and path planning, wherein path planning can be got around
Barrier and presumptive area in presumptive area include multiple node regions.
Specifically, the acquisition modes about path planning, can independently be determined by mobile robot, and by its upload
To server or server by calculating, and above belong in protection scope of the present invention.
A kind of preferred embodiment of the acquisition modes about path planning, the embodiment of the present invention are illustrated that referring to Fig. 3
In mobile robot can be AGV (Automated Guided Vehicle laser navigations vehicle), the wherein acquisition methods
Including：S301, server can send traffic order to each mobile robot, and wherein traffic order includes each mobile machine
The destination node area information of people.S302, after each mobile robot receives respective traffic order, can be according to each
From destination node area information and pass through A* algorithms and calculate respectively path planning.S303, each mobile robot
It can will calculate obtained respective path planning and be sent to server.It is got transmitted by each mobile robot in server
Path planning after, corresponding subsequent processing can be performed, with ensure in mobile robot during Execution plan path
Path conflict will not occur.As an example, there can be multiple node regions for being respectively provided with unique node ID on map
(such as 0,1 ... No. 99 node region in the Node distribution table shown in Fig. 4 about close quarters), mobile robot A0 is connecing
After receiving traffic order, need to reach No. 31 destination node regions from the node region of current location 73, move machine at this time
People A0 can calculate the shortest path for reaching No. 31 destination node regions by A* algorithms, thus ensure that mobile robot A0 can be fast
Speed reaches destination node region.But there is no other mobile robot examples considered in current spatial in calculating at this moment
Operation such as A1 is moved, and also only can take into account static barrier node, and in the mobile process of mobile robot A0 operations
In, other mobile robots such as A1 in space is barrier relative to this mobile robot A0, it is therefore desirable to be taken
Anti-collision measure prevents from bumping against to avoid other mobile robots.It, specifically will be under about the details of the conflict management measure
It is unfolded in text.
S202, node resource table is established according to the current location and path planning of multiple mobile robots.Its interior joint provides
Record has correspondence and the multiple movements between mobile robot ID, node region ID and holding time three in the table of source
Arbitrary the two in robot ID does not correspond to the same holding time under same node region ID jointly in node resource table.
In embodiments of the present invention, be managed node region as a kind of assignable resource, and introduce about
The holding time of node region is maintained as variable, as shown in figure 5, in coordinate, x, y-axis represent two-dimentional empty respectively
Between middle position, and z-axis be time coordinate.Over time, can shifting be calculated according to the path planning of mobile robot
The three-dimensional coordinate of mobile robot at a time, for example, can be shown in Fig. 5 3-D walls and floor on show mobile robot
From current location, node region S runs to track and the coordinate that destination node region T is inscribed when each.Specifically, due to moving
To leave some node be a process to mobile robot from entering, and a period of time is needed to carry out, therefore in node resource table
Holding time can refer to the period.As described above, in mobile robot A0 mesh is run to from current location node region S
During marking node region T, stationary obstruction can be independently got around, but can not be eliminated and other running mobile machines
Collision conflict between people；For this purpose, an embodiment of the present invention provides a kind of node resource table, have recorded mobile robot ID,
Correspondence between node region ID and holding time three, and arbitrary the two in multiple mobile robot ID is in node
The same holding time under same node region ID is not corresponded in resource table jointly.It is understood that each mobile robot
Can be configured with unique mobile robot ID (such as 10A, 10B, 10C etc.) and each node region can also be
It is configured with unique node region ID (as shown in Figure 4).Wherein, mobile robot can be arranged to only from the allocated
Node region pass through, specifically, can be that mobile robot only receives node area about next distribution from server
During the instruction in domain, movement can be just performed, that is, makes it possible to contexture by self and has got well operating path.
As shown in Fig. 6 the example of the node resource table of one embodiment of the invention is that node resource table carries out dimensionality reduction
It is obtained as a result, it illustratively illustrates 0 time mobile machine for being located at No. 73 node regions of current time after processing
0 time movement for being located at No. 55 nodes of resource allocation conditions and current time of the node of target area 31 is gone in people A0 planning
Robot A1 plans the resource allocation conditions for going to No. 19 nodes of destination node.As can be seen from Figure 6 come, each node ID pair
All it is unique in the resource of some time, can be identified by Hash table, such as No. 73 section that holding time is 1
Point region and No. 73 node regions that holding time is 2 are exactly different resources.Also, between different mobile robots
The resource that (such as A0 and A1) is distributed does not have what is overlapped, that is, arbitrary the two in multiple mobile robot ID is provided in node
The same holding time under same node region ID is not corresponded in the table of source jointly.
S203, the multiple mobile robots of control are respectively according to corresponding to mobile robot ID respective in node resource table
Holding time occupies the node region of corresponding node region ID.
As an example, can be that server sends control command to mobile robot, mobile robot is receiving the control
After system order, node region information and corresponding holding time information can be parsed from control command；Further, exist
During mobile robot Execution plan path, need to ensure that it is to occupy corresponding node region in the holding time parsed.
By node resource table, the operation of multiple mobile robots is managed concentratedly so that different Liang Ge robots are transporting
Identical resource will not be seized during row, that is, will not be there are two mobile robot according to path planning operation movement
In the process simultaneously appear in same node region, effectively prevent mobile robot in the process of running with other moving machines
Collision problem between device people；Meanwhile implementation through the embodiment of the present invention, the reasonable distribution to resource is realized, is ensured
Under the premise of not clashing, the space resources of closed area can be uses efficiently, and increase the quantity of concurrent tasks, excellent
The conevying efficiency of mobile robot in space is changed.By repeatedly effectively experiment, mobile robot floor space according to
1.44 square metres calculate, and the single required space size of mobile robot is less than 7 square metres so that are realizing certain fortune
In the case of defeated efficiency, the entire area of close quarters such as plant area may be reduced, so as to cost-effective.
If Fig. 7 shows the flow chart for establishing node resource table of one embodiment of the invention, including：
S401, server obtain multiple respective movement speeds of mobile robot；
S402, server according to movement speed, determine multiple mobile robots be able within the unit interval by
Unit distance；
S403, server are according to the current location of multiple mobile robots, unit distance, path planning and node region
Size, determine to be the node region ID that distribute respectively of each mobile robot ID in node resource table and corresponding when occupying
Between.
Specifically, on the one hand, can be server can by obtaining the position coordinates of each mobile robot in real time, and
By calculate within the unit interval position coordinates variation come calculate mobile robot within the unit interval by distance, accordingly
Determine movement speed (movement speed of each mobile robot can be different)；It is right that another aspect or server pass through
The power property arguments of mobile robot, closed area environmental parameter are carried out determined by comprehensive analysis, such as when selected identical
During the mobile robot of model, it can be that multiple robot selectes identical movement speed v, can thus calculate at one
Chronomere tx, mobile robot by distance be：
S(Nx)=v*tx
Further, the position of all mobile robots node region residing at any time, example can be calculated
Can be it one such as when the displacement distance of the first movement robot A1 in the unit interval is just a node region
A unit interval distribution next node region and corresponding holding time can be that a unit interval or other times are long
The occupancy of degree.Wherein, under normal circumstances, it is only necessary to which a list is distributed in the next node region for first movement robot A1
The position time, but there may be the situations of special path conflict.For example, it is the second movement machine equally using aforesaid way
People A0 distribution nodes region and holding time, but there may be first movement robot A1 and the second mobile robot A0 same
The holding time of sample occupies the situation of same node region and when detecting such happen, and determines at this time
There is conflict or the risk bumped against in path planning, should be the second mobile robot A0 distribution nodes for finding resource contention again
Region ID and corresponding holding time, to be adjusted to the second mobile robot A0 path plannings, to avoid conflict.
Specifically, as illustrated in FIG. 8 be one embodiment of the invention when detecting conflict situation, be mobile robot
The example of the one side of node resource table that A0 is distributed, when in t0Moment needs to be distributed down by the second mobile robot A0
One node region N1 is by first movement robot A1 in t0When occupied by the moment, the second mobile robot A0 first can Shen
It please occupy present node N0Next unit interval after time point t1Resource, then proceed to search for and apply for lower node N1
Time point t after next unit interval2Resource；Can allow the second movement machine when still applying not at this time then
People A0 continues to stop in current node region and the second mobile robot A0 should in current node region institute residence time
When not less than by its time in next node region clashed by this that first movement robot A1 is distributed.By
This, is stayed for some time more by controlling in a node region of the second mobile robot A0 before conflicting nodes region, with
After first movement robot A1 is enabled by conflicting nodes region, which reverts to normal resource and then will
It is distributed to the second mobile robot A0, efficiently solves the generation of conflict.But in one case, as shown in Figure 9 A, if
The path planning of two mobile robots A0 and A1 just overlap, and due to being not provided with priority between mobile robot, institute
It is random to be directed to seizing for node, is to move toward one another between two of which mobile robot, it is anticipated that two moving machine
Device people can go out clash in No. 19 node region, and i.e. order mobile robot A0 stops length in origin node region 18 at this time
Time, which is still, can not solve the collision problem, and two mobile robots can still be caused to collide.In view of this, it is of the invention
Embodiment proposes the contention-resolution schemes as shown in Fig. 9 B-9D, can be in the node region of conflicting nodes region the 19th
Previous No. 18 node regions of node region search next possible node region as 31 (such as Fig. 9 B), and capture in initial planning
The time point of No. 19 nodes transfers distribution and stops one to No. 31 node region (such as Fig. 9 C) of occupancy, and in No. 31 node region
The section time, first movement robot A1 to be allowed to pass through No. 19 node region (as shown in fig. 9d) clashing.Later, a side
Face, the second mobile robot A0 come back to No. 18 node regions from No. 31 node regions, and continue the node area after distribution
Domain, it is possible thereby to know node resource allocation table as shown in Figure 9；On the other hand or the second mobile robot A0 is allowed
No. 31 node regions can also be moved to from No. 18 node regions, it is then enabled to be planned for the road of No. 25 node regions of target again
Diameter etc., and embodiment of above is belonged in protection scope of the present invention.
It should be noted that the example about the conflict shown in Fig. 9 A, as long as the mobile route of first movement robot A1
Mobile route with the second mobile robot A0 is overlapping the conflict feelings that may can cause as above by existing at conflicting nodes
In addition condition is the (not shown) that moves toward one another also without that must be first movement robot A1 and the second mobile robot A0,
Such as it is in the same direction when the path planning of both first movement robot A1 and the second mobile robot A0, but when two movements
During movement speed difference between robot, but since the mobile route of two mobile robots at conflicting nodes by existing
It overlaps, it is also possible to the phenomenon that mobile robot is caused to clash or knock into the back.
As shown in Figure 10, it is illustrated that the knot of the conflict managementsystem 50 of the multiple mobile robot of one embodiment of the invention
Structure block diagram, including:Acquiring unit 501, for obtaining the respective current location of multiple mobile robots and path planning, wherein institute
State that path planning can get around barrier in presumptive area and the presumptive area includes multiple node regions；Node provides
Source table establishes unit 502, and node money is established for the current location according to the multiple mobile robot and the path planning
Source table, wherein record has pair between mobile robot ID, node region ID and holding time three in the node resource table
Should be related to and multiple mobile robot ID in both arbitrary do not correspond to same section jointly in the node resource table
Same holding time under point region ID；And control occupies unit 503, for the multiple mobile robot to be controlled to press respectively
According to the holding time corresponding to respective mobile robot ID in the node resource table, the section of corresponding node region ID is occupied
Point region.
In some embodiments, the node resource table is established unit 502 and is included：Speed acquiring module, for obtaining
The multiple respective movement speed of mobile robot；Unit distance determining module, for according to the movement speed, determining institute
State multiple mobile robots be able within the unit interval by unit distance；Resource distribution module, for according to
The current location of multiple mobile robots, the unit distance, the size of the path planning and the node region, determine
It is the node region ID and corresponding holding time that each mobile robot ID is distributed respectively in the node resource table.
In some embodiments, the resource distribution module includes：Resource allocation component, for according to first movement machine
The respective current location of device people and the second robot, the unit distance, the path planning and the node region it is big
It is small, it is that the first movement robot distributes multiple first node regions and corresponding first holding time and is described the
Two mobile robots distribute multiple second node regions and corresponding second holding time；Collision detection module exists for working as
One of them described first node region with when second node region is identical one of them described, judge it is described one of them first
The first holding time corresponding to node region is with the second holding time corresponding to one of second node region
It is no to there is coincidence；Conflict-solving module, for if so, label is described to have the one of second node region overlapped
It is the second mobile robot distribution node region ID and phase again for conflicting nodes region, and in the node resource table
The holding time answered.
In some embodiments, the conflict-solving module is used in the node resource table be relative to the punching
Prominent previous node region additional allocation holding time of the node region on the path planning of second mobile robot, with
Extend residence time of second mobile robot in the previous node region, wherein, the residence time is not small
Pass through the time in the conflicting nodes region in the first movement robot.
In some embodiments, the conflict-solving module is used to judge the first planning of the first movement robot
Second path planning of path and second mobile robot is overlapped by whether there is at the conflicting nodes region, if
In the presence of, then by the conflicting nodes region in the node resource table and corresponding holding time, replace with it is described previous
The adjacent node region of a node region and corresponding holding time.
In some embodiments, the acquiring unit includes：Traffic order sending module, for each movement
Robot sends traffic order, wherein the traffic order includes the destination node area information of each mobile robot；Planning
Path acquisition module, for receiving path planning from the multiple mobile robot, wherein the path planning is each described
Mobile robot according to respective destination node area information and pass through A* algorithms calculate determined by.
It should be noted that the conflict managementsystem for the multiple mobile robot that the embodiment of the present invention is provided can be built
For managing concentratedly on the server of multiple mobile robot, and each unit as described above and module can refer to journey
Sequence module or unit.And more details about system of the embodiment of the present invention and corresponding technique effect are referred to
The description of literary embodiment of the method, just repeats no more herein.
The optional embodiment of the embodiment of the present invention is described in detail above in association with attached drawing, still, the embodiment of the present invention is simultaneously
The detail being not limited in the above embodiment, can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection domain of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the embodiment of the present invention pair
Various combinations of possible ways no longer separately illustrate.
It will be appreciated by those skilled in the art that all or part of the steps of the method in the foregoing embodiments are can to pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, is used including some instructions so that single
Piece machine, chip or processor (processor) perform all or part of step of each embodiment the method for the application.It is and preceding
The storage medium stated includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic disc or CD.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, should equally be considered as disclosure of that of the embodiment of the present invention.
Claims (12)
1. a kind of method for collision management of multiple mobile robot, including：
The respective current location of multiple mobile robots and path planning are obtained, wherein the path planning can get around fate
Barrier and the presumptive area in domain include multiple node regions；
Node resource table is established according to the current location of the multiple mobile robot and the path planning, wherein the node
Record has correspondence and the multiple institutes between mobile robot ID, node region ID and holding time three in resource table
State in mobile robot ID it is both arbitrary do not corresponded to jointly in the node resource table it is same under same node region ID
Holding time；And
Control the multiple mobile robot respectively according to corresponding to respective mobile robot ID in the node resource table
Holding time occupies the node region of corresponding node region ID.
2. the according to the method described in claim 1, it is characterized in that, position and institute according to the multiple mobile robot
It states path planning and establishes node resource table and include：
Obtain the respective movement speed of the multiple mobile robot；
According to the movement speed, determine the multiple mobile robot be able within the unit interval by unit away from
From；
According to the current location of the multiple mobile robot, the unit distance, the path planning and the node area
The size in domain determines to be node region ID and phase that each mobile robot ID is distributed respectively in the node resource table
The holding time answered.
3. the according to the method described in claim 2, it is characterized in that, present bit according to the multiple mobile robot
It puts, the size of the unit distance, the path planning and the node region, determines that in the node resource table be each
The node region ID and corresponding holding time that a mobile robot ID is distributed respectively include：
According to the respective current location of first movement robot and the second robot, the unit distance, the path planning with
And the size of the node region, distribute multiple first node regions and corresponding first occupancy for the first movement robot
Time and distribute multiple second node regions and corresponding second holding time for second mobile robot；And
When there are first node region one of them described with second node region is identical one of them described when, judge it is described its
In the first holding time corresponding to a first node region and second corresponding to one of second node region
Holding time is with the presence or absence of coincidence；
If so, the label one of second node region that there is coincidence is conflicting nodes region, and described
It is the second mobile robot distribution node region ID and corresponding holding time again in node resource table.
4. according to the method described in claim 3, it is characterized in that, described is the second mobile robot distribution node again
Region ID and corresponding holding time include：
In the node resource table be relative to the conflicting nodes region second mobile robot path planning
On previous node region additional allocation holding time, to extend second mobile robot in the previous node area
Residence time in domain,
Wherein, the residence time is not less than that it passes through the conflicting nodes region by the first movement robot distributes
Time.
5. according to the method described in claim 4, it is characterized in that, described is the second mobile robot distribution node again
Region ID and corresponding holding time include：
Judge that the first path planning of the first movement robot and the second path planning of second mobile robot exist
It is overlapped by whether there is at the conflicting nodes region；
If in the presence of by the conflicting nodes region in the node resource table and corresponding holding time, replacing with and institute
State the adjacent node region of previous node region and corresponding holding time.
6. according to the method described in claim 1, it is characterized in that, described obtain multiple respective current locations of mobile robot
Include with path planning：
Traffic order is sent to each mobile robot, wherein the traffic order includes the target of each mobile robot
Node region information；
In response to the traffic order, path planning is received from the multiple mobile robot, wherein the path planning is each
A mobile robot according to respective destination node area information and pass through A* algorithms calculate determined by.
7. a kind of conflict managementsystem of multiple mobile robot, including:
Acquiring unit, for obtaining the respective current location of multiple mobile robots and path planning, wherein the path planning
The barrier and the presumptive area that can be got around in presumptive area include multiple node regions；
Node resource table establishes unit, is established for the current location according to the multiple mobile robot and the path planning
Node resource table, wherein in the node resource table record have mobile robot ID, node region ID and holding time three it
Between correspondence and multiple mobile robot ID in both arbitrary do not corresponded to jointly in the node resource table
Same holding time under same node region ID；And
Control occupies unit, for controlling the multiple mobile robot respectively according to respective movement in the node resource table
Holding time corresponding to robot ID occupies the node region of corresponding node region ID.
8. system according to claim 7, which is characterized in that the node resource table is established unit and included：
Speed acquiring module, for obtaining the respective movement speed of the multiple mobile robot；
Unit distance determining module, for according to the movement speed, determining the multiple mobile robot within the unit interval
Be able to by unit distance；
Resource distribution module, for current location, the unit distance, the planning road according to the multiple mobile robot
The size of diameter and the node region determines to be that each mobile robot ID is distributed respectively in the node resource table
Node region ID and corresponding holding time.
9. system according to claim 8, which is characterized in that the resource distribution module includes：
Resource allocation component, for according to the respective current location of first movement robot and the second robot, the unit away from
Size from, the path planning and the node region distributes multiple first node areas for the first movement robot
Domain and corresponding first holding time and distribute multiple second node regions and corresponding for second mobile robot
Two holding times；
Collision detection module, for when there are first node regions one of them described and one of them described second node region
When identical, the first holding time corresponding to one of first node region and one of second node are judged
The second holding time corresponding to region is with the presence or absence of coincidence；
Conflict-solving module, for if so, label is described to have the one of second node region overlapped for conflict
Node region, and again the second mobile robot distribution node region ID and to account for accordingly in the node resource table
Use the time.
10. system according to claim 9, which is characterized in that the conflict-solving module is used in the node resource
It is the previous node region relative to the conflicting nodes region on the path planning of second mobile robot in table
Additional allocation holding time, to extend residence time of second mobile robot in the previous node region,
In, the residence time is not less than time of the first movement robot by the conflicting nodes region.
11. system according to claim 10, which is characterized in that the conflict-solving module is used to judge that described first moves
First path planning of mobile robot and the second path planning of second mobile robot are passing through the conflicting nodes area
With the presence or absence of overlapping at domain, if in the presence of, by the conflicting nodes region in the node resource table and it is corresponding occupy when
Between, replace with the node region adjacent with the previous node region and corresponding holding time.
12. system according to claim 7, which is characterized in that the acquiring unit includes：
Traffic order sending module, for sending traffic order to each mobile robot, wherein the traffic order packet
Destination node area information containing each mobile robot；
Path planning acquisition module, for receiving path planning from the multiple mobile robot, wherein the path planning is
Each mobile robot according to respective destination node area information and pass through A* algorithms calculate determined by.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810055329.6A CN108268040A (en) | 2018-01-19 | 2018-01-19 | The method for collision management and system of multiple mobile robot |
| PCT/CN2019/072260 WO2019141222A1 (en) | 2018-01-19 | 2019-01-18 | Conflict management method and system for multiple mobile robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810055329.6A CN108268040A (en) | 2018-01-19 | 2018-01-19 | The method for collision management and system of multiple mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108268040A true CN108268040A (en) | 2018-07-10 |
Family
ID=62776142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810055329.6A Pending CN108268040A (en) | 2018-01-19 | 2018-01-19 | The method for collision management and system of multiple mobile robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108268040A (en) |
| WO (1) | WO2019141222A1 (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109343498A (en) * | 2018-11-26 | 2019-02-15 | 清华大学 | The majority control safe avoidance system of operation unit |
| CN109746919A (en) * | 2019-03-04 | 2019-05-14 | 上海木木聚枞机器人科技有限公司 | A kind of Optimization Scheduling and system of Robotic Dynamic collision detection |
| WO2019141222A1 (en) * | 2018-01-19 | 2019-07-25 | 库卡机器人(广东)有限公司 | Conflict management method and system for multiple mobile robots |
| CN110244763A (en) * | 2019-06-21 | 2019-09-17 | 浙江海洋大学 | The remote supervision system and monitoring method of seawater contamination |
| CN110632918A (en) * | 2019-07-30 | 2019-12-31 | 深圳市普渡科技有限公司 | Distributed scheduling method and system |
| CN110989582A (en) * | 2019-11-26 | 2020-04-10 | 北京卫星制造厂有限公司 | Automatic avoidance type intelligent scheduling method for multiple AGV based on path pre-occupation |
| CN111103887A (en) * | 2020-01-14 | 2020-05-05 | 大连理工大学 | Multi-sensor-based multi-mobile-robot scheduling system design method |
| CN111158353A (en) * | 2018-10-19 | 2020-05-15 | 广达电脑股份有限公司 | Movement control method for a plurality of robots and system thereof |
| CN111283667A (en) * | 2020-03-18 | 2020-06-16 | 广东博智林机器人有限公司 | Robot control method and device and electronic equipment |
| CN112362063A (en) * | 2020-11-13 | 2021-02-12 | 四川大学 | Multi-robot path planning method and system based on collision type division |
| CN112372640A (en) * | 2020-11-30 | 2021-02-19 | 倍仪昇智能科技(苏州)有限公司 | Anti-collision operation method for multiple mechanical arms |
| CN112433526A (en) * | 2020-11-25 | 2021-03-02 | 北京易控智驾科技有限公司 | Open area multi-unmanned vehicle avoidance method and device, storage medium and electronic equipment |
| CN113576324A (en) * | 2020-04-30 | 2021-11-02 | 青岛塔波尔机器人技术股份有限公司 | Sweeping and mopping robot cooperative work control method |
| CN115167410A (en) * | 2022-07-01 | 2022-10-11 | 安徽机电职业技术学院 | Method and system for correcting conflict paths of multi-robot motion |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022117210A1 (en) * | 2020-12-04 | 2022-06-09 | Abb Schweiz Ag | A safety network for a mobile robot fleet |
| CN114115292A (en) * | 2021-12-21 | 2022-03-01 | 上海智蕙林医疗科技有限公司 | Travel control method, system, storage medium, and computer device |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001255923A (en) * | 2000-03-10 | 2001-09-21 | Shinko Electric Co Ltd | Operation plan preparing device for unmanned vehicle |
| CN103217979A (en) * | 2013-03-29 | 2013-07-24 | 无锡普智联科高新技术有限公司 | Method for solving multiple mobile robot path conflict based on buffer area |
| CN103439972A (en) * | 2013-08-06 | 2013-12-11 | 重庆邮电大学 | Path planning method of moving robot under dynamic and complicated environment |
| CN103823466A (en) * | 2013-05-23 | 2014-05-28 | 电子科技大学 | Path planning method for mobile robot in dynamic environment |
| CN104199428A (en) * | 2014-09-17 | 2014-12-10 | 上海畔慧信息技术有限公司 | Swarm robot management server and method implemented by same |
| CN105116902A (en) * | 2015-09-09 | 2015-12-02 | 北京进化者机器人科技有限公司 | Mobile robot obstacle avoidance navigation method and system |
| CN105446343A (en) * | 2016-01-04 | 2016-03-30 | 杭州亚美利嘉科技有限公司 | Robot scheduling method and apparatus |
| CN106251016A (en) * | 2016-08-01 | 2016-12-21 | 南通大学 | A kind of parking system paths planning method based on dynamic time windows |
| CN106547271A (en) * | 2016-10-20 | 2017-03-29 | 大族激光科技产业集团股份有限公司 | AGV traffic control method and apparatus |
| CN106556406A (en) * | 2016-11-14 | 2017-04-05 | 北京特种机械研究所 | Many AGV dispatching methods |
| CN106979785A (en) * | 2017-03-24 | 2017-07-25 | 北京大学深圳研究生院 | A kind of complete traverse path planing method of multi-robot system |
| CN107179078A (en) * | 2017-05-24 | 2017-09-19 | 合肥工业大学(马鞍山)高新技术研究院 | A kind of AGV paths planning methods optimized based on time window |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108287546A (en) * | 2018-01-19 | 2018-07-17 | 广东美的智能机器人有限公司 | The method for collision management and system of multiple mobile robot |
| CN108268040A (en) * | 2018-01-19 | 2018-07-10 | 广东美的智能机器人有限公司 | The method for collision management and system of multiple mobile robot |
-
2018
- 2018-01-19 CN CN201810055329.6A patent/CN108268040A/en active Pending
-
2019
- 2019-01-18 WO PCT/CN2019/072260 patent/WO2019141222A1/en active Application Filing
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001255923A (en) * | 2000-03-10 | 2001-09-21 | Shinko Electric Co Ltd | Operation plan preparing device for unmanned vehicle |
| CN103217979A (en) * | 2013-03-29 | 2013-07-24 | 无锡普智联科高新技术有限公司 | Method for solving multiple mobile robot path conflict based on buffer area |
| CN103823466A (en) * | 2013-05-23 | 2014-05-28 | 电子科技大学 | Path planning method for mobile robot in dynamic environment |
| CN103439972A (en) * | 2013-08-06 | 2013-12-11 | 重庆邮电大学 | Path planning method of moving robot under dynamic and complicated environment |
| CN104199428A (en) * | 2014-09-17 | 2014-12-10 | 上海畔慧信息技术有限公司 | Swarm robot management server and method implemented by same |
| CN105116902A (en) * | 2015-09-09 | 2015-12-02 | 北京进化者机器人科技有限公司 | Mobile robot obstacle avoidance navigation method and system |
| CN105446343A (en) * | 2016-01-04 | 2016-03-30 | 杭州亚美利嘉科技有限公司 | Robot scheduling method and apparatus |
| CN106251016A (en) * | 2016-08-01 | 2016-12-21 | 南通大学 | A kind of parking system paths planning method based on dynamic time windows |
| CN106547271A (en) * | 2016-10-20 | 2017-03-29 | 大族激光科技产业集团股份有限公司 | AGV traffic control method and apparatus |
| CN106556406A (en) * | 2016-11-14 | 2017-04-05 | 北京特种机械研究所 | Many AGV dispatching methods |
| CN106979785A (en) * | 2017-03-24 | 2017-07-25 | 北京大学深圳研究生院 | A kind of complete traverse path planing method of multi-robot system |
| CN107179078A (en) * | 2017-05-24 | 2017-09-19 | 合肥工业大学(马鞍山)高新技术研究院 | A kind of AGV paths planning methods optimized based on time window |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019141222A1 (en) * | 2018-01-19 | 2019-07-25 | 库卡机器人(广东)有限公司 | Conflict management method and system for multiple mobile robots |
| CN111158353A (en) * | 2018-10-19 | 2020-05-15 | 广达电脑股份有限公司 | Movement control method for a plurality of robots and system thereof |
| CN109343498A (en) * | 2018-11-26 | 2019-02-15 | 清华大学 | The majority control safe avoidance system of operation unit |
| CN109746919A (en) * | 2019-03-04 | 2019-05-14 | 上海木木聚枞机器人科技有限公司 | A kind of Optimization Scheduling and system of Robotic Dynamic collision detection |
| CN110244763A (en) * | 2019-06-21 | 2019-09-17 | 浙江海洋大学 | The remote supervision system and monitoring method of seawater contamination |
| CN110244763B (en) * | 2019-06-21 | 2021-11-02 | 浙江海洋大学 | Remote monitoring system and monitoring method for seawater pollutants |
| CN110632918A (en) * | 2019-07-30 | 2019-12-31 | 深圳市普渡科技有限公司 | Distributed scheduling method and system |
| CN110989582A (en) * | 2019-11-26 | 2020-04-10 | 北京卫星制造厂有限公司 | Automatic avoidance type intelligent scheduling method for multiple AGV based on path pre-occupation |
| CN110989582B (en) * | 2019-11-26 | 2023-06-09 | 北京卫星制造厂有限公司 | Multi-AGV automatic avoiding type intelligent scheduling method based on path pre-occupation |
| CN111103887A (en) * | 2020-01-14 | 2020-05-05 | 大连理工大学 | Multi-sensor-based multi-mobile-robot scheduling system design method |
| CN111103887B (en) * | 2020-01-14 | 2021-11-12 | 大连理工大学 | Multi-sensor-based multi-mobile-robot scheduling system design method |
| CN111283667A (en) * | 2020-03-18 | 2020-06-16 | 广东博智林机器人有限公司 | Robot control method and device and electronic equipment |
| CN111283667B (en) * | 2020-03-18 | 2023-03-28 | 广东博智林机器人有限公司 | Robot control method and device and electronic equipment |
| CN113576324A (en) * | 2020-04-30 | 2021-11-02 | 青岛塔波尔机器人技术股份有限公司 | Sweeping and mopping robot cooperative work control method |
| CN112362063A (en) * | 2020-11-13 | 2021-02-12 | 四川大学 | Multi-robot path planning method and system based on collision type division |
| CN112433526A (en) * | 2020-11-25 | 2021-03-02 | 北京易控智驾科技有限公司 | Open area multi-unmanned vehicle avoidance method and device, storage medium and electronic equipment |
| CN112433526B (en) * | 2020-11-25 | 2023-03-14 | 北京易控智驾科技有限公司 | Open area multi-unmanned vehicle avoidance method and device, storage medium and electronic equipment |
| CN112372640A (en) * | 2020-11-30 | 2021-02-19 | 倍仪昇智能科技(苏州)有限公司 | Anti-collision operation method for multiple mechanical arms |
| CN115167410A (en) * | 2022-07-01 | 2022-10-11 | 安徽机电职业技术学院 | Method and system for correcting conflict paths of multi-robot motion |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019141222A1 (en) | 2019-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108268040A (en) | The method for collision management and system of multiple mobile robot | |
| CN108267149A (en) | The method for collision management and system of multiple mobile robot | |
| CN108287545A (en) | The method for collision management and system of multiple mobile robot | |
| CN108268016A (en) | The method for collision management and system of multiple mobile robot | |
| CN108287547A (en) | The method for collision management and system of multiple mobile robot | |
| WO2019141218A1 (en) | Conflict management method and system for multiple mobile robots | |
| Guo et al. | Dynamic yard crane dispatching in container terminals with predicted vehicle arrival information | |
| CN108268038A (en) | The dispatching method and system of multiple mobile robot | |
| CN108268037A (en) | The method for collision management and system of multiple mobile robot | |
| CN107992060A (en) | The paths planning method and system of multiple mobile robot | |
| CN108563219A (en) | A kind of AGV preventing collision methods | |
| CN108268039A (en) | The paths planning method and system of mobile robot | |
| CN108287546A (en) | The method for collision management and system of multiple mobile robot | |
| CN112229419B (en) | Dynamic path planning navigation method and system | |
| CN102865877A (en) | Solution for multiple mobile robot path conflict based on dense storage regions | |
| CN108919813A (en) | path conflict processing method and system | |
| CN108227716A (en) | The paths planning method and system of mobile robot | |
| CN104951918A (en) | Time window path planning method | |
| CN109839928A (en) | Unmanned vehicle and its remote anti-head-on collision methods, devices and systems | |
| Zhang et al. | Conflict-free route planning of automated guided vehicles based on conflict classification | |
| Liu et al. | Multiple equipment scheduling and AGV trajectory generation in U-shaped sea-rail intermodal automated container terminal | |
| CN113371380B (en) | Path generation method, device, equipment, storage medium and program product | |
| Basile et al. | A cyber-physical view of automated warehouse systems | |
| Sharma | Control classification of automated guided vehicle systems | |
| Weyns et al. | Exploiting a virtual environment in a real-world application |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180710 |