CN112783167B - Multi-region-based real-time path planning method and system - Google Patents
Multi-region-based real-time path planning method and system Download PDFInfo
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- CN112783167B CN112783167B CN202011618831.7A CN202011618831A CN112783167B CN 112783167 B CN112783167 B CN 112783167B CN 202011618831 A CN202011618831 A CN 202011618831A CN 112783167 B CN112783167 B CN 112783167B
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- 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
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Abstract
The invention discloses a real-time path planning method and a system based on multiple areas, wherein the method comprises the following steps: the method comprises the steps of map construction, segmentation task path planning, point location list generation, point location lock list generation, point location comparison and task execution, and provides a multi-region-based real-time path planning system. The method and the system combine the characteristics of real-time scheduling and flexible control of the equipment, and timely unlock the related point locations from the point location lock list by comparing the point location lock list with the point location list in real time, so that different tasks are ensured not to lock the same point location simultaneously, the aims of multi-equipment multi-task parallel and non-conflict are fulfilled, the task execution efficiency is improved, the task conflict and the equipment waiting time are effectively reduced, and the equipment use efficiency is improved. Meanwhile, the real-time requirements on the hardware capability of the equipment and the field network environment are reduced, the equipment investment and the operation and maintenance investment are reduced, and the input-output ratio is improved. The method and the system have the advantages of high operability, good universality and strong adaptability.
Description
Technical Field
The present invention relates to a real-time path planning method and system, and more particularly, to a real-time path planning method and system based on multiple regions.
Background
In recent years, with the progress of industry and technology, AGVs have become important equipments for factory logistics transportation and warehouse transportation. Under a large-scale application environment, multiple devices execute tasks in multiple areas, and the path planning when the devices execute the tasks is particularly important as the devices are more and the area span is larger.
The existing path planning method is divided into two categories, the first category is a global path planned in advance, other tasks cannot use a route and point positions occupied by the task before the current task is executed, and the path planning method has the advantages that path conflict in the task execution process is avoided, the path planning method is not flexible enough and loses the overall efficiency, and the risk that all other new tasks cannot be executed in the execution process of a certain task possibly exists; the other type is real-time planning, namely 'walking one step and looking one step' often, and planning a next-step moving path after the current step of moving is completed.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a multi-region-based real-time path planning method which realizes multi-device multi-task parallel without conflict, improves the task execution efficiency, effectively reduces task conflict and device waiting time, improves the device use efficiency, reduces the real-time requirements on the device hardware capability and the field network environment, reduces the device investment and the operation and maintenance investment, and improves the input-output ratio.
The technical scheme is as follows: the invention discloses a multi-region-based real-time path planning method, which comprises the following steps: the method comprises the steps of map construction, segmentation task path planning, point position list generation, point position lock list generation, point position comparison and task execution.
Further, the map is constructed by querying all points, one-way edges and corresponding path weights in the map and constructing a directed graph.
The segmented task path planning comprises task segmentation and path planning. The task segmentation is to segment the whole task into a plurality of segmented tasks. The path planning is to plan the path of the segmented task to be executed firstly, and the shortest weighted path is planned by using Dijkstra algorithm at the starting point position and the ending point position of the task execution.
And generating a point location list which is a point location list of a weighted shortest path required to be passed by the executed task returned through a path planning algorithm, wherein the sequence of the list is the sequence of the point locations passed in the task execution process.
And generating a point location lock list for storing point locations occupied by the currently executed task, wherein the point locations in the list can be planned by a path but cannot be executed by the actual task.
Point location comparison is to compare a point location list executed by a task with a point location lock list, and if any point location of the point location list executed by the task is not contained in the point location lock list, the task is executed; if the point location lock list contains a point location list executed by any task, the task needs to wait for the release of the locked point location.
The task execution comprises point location locking and point location unlocking, wherein the point location locking is that when the task starts to be executed, a point location list of the task is added into the point location locking list to indicate that the point locations are locked, and a new task needing to use the point locations cannot be immediately executed subsequently; point location unlocking refers to tracking the task execution state in real time after a task starts to be executed, if the executed task passes through a certain point and goes to the next point location, removing the passed point location from a point location lock list, representing that the point location is unlocked, and other tasks can occupy the point location.
The invention discloses a multi-region-based real-time path planning system which comprises a map construction module, a segmentation task path planning module, a point position list generation module, a point position lock list generation module, a point position comparison module and a task execution module.
The system of the invention automatically segments tasks, automatically plans paths, establishes a point position list and a point position lock list, and performs related operations such as point position comparison, locking and unlocking according to the actual content of the tasks, thereby realizing the automatic execution of the whole process without human intervention of users.
The multi-task real-time path planning is realized through map construction, task segmentation, path planning, point location list, point location lock list, point location comparison, point location locking and point location unlocking.
Has the beneficial effects that: compared with the prior art, the invention has the following remarkable advantages:
(1) The path planning method realizes the parallel of multiple devices and multiple tasks without conflict, and improves the task execution efficiency and the device utilization rate;
(2) The path planning method reduces the real-time requirements on the hardware capability of the equipment and the field network environment, avoids high risks caused by high requirements, reduces equipment investment and operation and maintenance investment, and improves the input-output ratio.
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FIG. 1 is a schematic diagram of a segment mission path plan;
FIG. 2 is a schematic diagram of stage one;
fig. 3 is a schematic diagram of stage two.
Detailed Description
The technical solution of the present invention is further illustrated by the following examples.
As shown in fig. 1, fig. 1 is a schematic diagram of a segment task path planning. The system receives a task 1, the starting point is S, the end point is E, the system inquires a plurality of intermediate points A and D which are necessary for the task through global planning, and the whole task is segmented into three segments of S-A, A-D, D-E. When the AGV equipment starts to execute the task at the point S, the system carries out path planning of the S-A section. When the AGV equipment runs to the point A, the system plans the path of the A-D segment tasks into A-b-c-D, wherein b and c are intermediate point positions automatically added by the system.
FIG. 2 is a schematic diagram of a stage one, as shown in FIG. 2, when the facility AGV1 is executing a segment task A-b-c-D of task 1, and the facility AGV1 travels to point c, when points c, D are in the point lock list.
At this time, the system inquires that task 2 is about to execute a new segment task F-G, and the planned path of the system is F-b-c-G.
Comparing the point location list of the segment task 2 with the point location lock list at the moment, finding that the point c is in a locked state in the point location lock list, and the segment task 2 cannot be executed immediately and needs to wait.
FIG. 3 is a schematic diagram of stage two, as shown in FIG. 3, when the facility AGV1 travels to point D, where the previous point location c has been unlocked from the point location lock list.
Comparing the point location list and the point location lock list of the segment task 2, wherein the point location lock list only has D point, no point location of the segment task 2 exists, the segment task 2 starts to execute, F, b, c and G in the point location list are added into the point location lock list, and a new point location lock list is generated and comprises the point locations D, F, b, c and G.
Claims (2)
1. A real-time path planning method based on multiple regions is characterized by comprising the following steps: map construction, segmentation task path planning, generation of a point location list and a point location lock list, point location comparison and task execution;
the map is constructed by inquiring all points, one-way edges and corresponding path weights in the map and constructing a directed graph;
the segmented task path planning comprises task segmentation and path planning;
the task segmentation is to segment the whole task into a plurality of segmented tasks;
the path planning is to carry out path planning on a segmented task to be executed firstly, and the shortest weighted path is planned by using a Dijkstra algorithm at the starting point position and the ending point position of task execution;
the generated point location list is a point location list of a weighted shortest path which needs to be passed by the executed task returned through a path planning algorithm, and the sequence of the list is the sequence of the point locations passed by the task in the execution process;
the point location lock generation list is used for storing point locations occupied by the currently executed task, and the point locations in the list can be planned by a path but cannot be executed by the actual task;
the point location comparison is to compare the point location list executed by the task with the point location lock list, and if any point location of the point location list executed by the task is not contained in the point location lock list, the task is executed; if the point location lock list comprises a point location list executed by any task, the task needs to wait for the release of the locked point location;
the task execution comprises point location locking and point location unlocking, wherein the point location locking is that when the task starts to be executed, a point location list of the task is added into a point location lock list to indicate that the point locations are locked, and a new task needing to use the point locations cannot be immediately executed subsequently; the point location unlocking means that after a task starts to be executed, the task execution state is tracked in real time, if the executed task passes through a certain point and goes to the next point location, the passed point location is removed from a point location lock list, the point location is unlocked, and other tasks can occupy the point location.
2. A real-time path planning system based on multiple regions is characterized in that: the system comprises a map construction module, a segmentation task path planning module, a point location list generation module, a point location lock list generation module, a point location comparison module and a task execution module; the system is used for implementing the multi-zone based real-time path planning method of claim 1.
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| CN108170146B (en) * | 2017-12-31 | 2021-07-30 | 芜湖哈特机器人产业技术研究院有限公司 | Path planning method based on known environment |
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