KR20150137166A - Method for planning path for avoiding collision between multi-mobile robot - Google Patents
Method for planning path for avoiding collision between multi-mobile robot Download PDFInfo
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- KR20150137166A KR20150137166A KR1020140064280A KR20140064280A KR20150137166A KR 20150137166 A KR20150137166 A KR 20150137166A KR 1020140064280 A KR1020140064280 A KR 1020140064280A KR 20140064280 A KR20140064280 A KR 20140064280A KR 20150137166 A KR20150137166 A KR 20150137166A
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- path
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a route generation method for avoiding a collision between a plurality of mobile robots, comprising the steps of: (a) registering a running map on which the plurality of mobile robots travel; (b) registering the initial priority, the origin and the destination for each of the mobile robots; (c) generating a route from the origin to the destination of each of the mobile robots based on the travel map, sequentially generated in the order of the initial priorities, avoiding collision between the routes of the mobile robot; (d) each of the mobile robots travels according to a path generated in the step (c); (e) predicting a collision between the mobile robots in a traveling process of the mobile robots; (f) when a collision between the mobile robots is predicted in the step (e), a path of the mobile robot having the low driving priority is regenerated based on the traveling priority between the pair of mobile robots in which the collision is predicted . Accordingly, in generating the paths of the plurality of mobile robots by applying the decentralized method, it is possible to generate a path in which collision occurs or does not overlap with each other.
Description
The present invention relates to a path generation method for collision avoidance between a plurality of mobile robots, and more particularly, to a path generation method for avoiding collision between mobile robots in generating a path of a plurality of mobile robots traveling in the same traveling space, And more particularly, to a path generation method for collision avoidance between a plurality of possible mobile robots.
When a plurality of mobile robots travel in the same traveling space such as a building or an exhibition, when each mobile robot calculates its shortest distance without considering movement of other mobile robots, There is a possibility.
In such a case, if the mobile robot is stopped to avoid collision with other mobile robots while traveling along the calculated path path, the operation efficiency may be lowered, or a plurality of mobile robots may fall into a deadlock state If you can not achieve the goal, it will come up.
In this multi-object robot system, there are two methods for generating paths of individual mobile robots that can avoid collision. The first is the centralized method and the other is the decoupled method.
The centralized method simultaneously generates the paths of all the mobile robots in one cycle. When generating the path of each mobile robot, the path is generated considering the number of all the other mobile robots. However, the centralized method provides an advantage of generating an optimum path, but the computational complexity increases exponentially as the number of mobile robots increases, which is disadvantageous when a large number of mobile robots are applied .
In addition, the centralized method can be applied to all the mobile robots at any time if the route travel time of the mobile robot is different from the anticipation due to the obstacle or the delay of the operation during the actual travel, In this case, the complexity of the calculation mentioned above also occurs during traveling, which causes the performance of the entire system to deteriorate.
On the other hand, the decentralized method is a method for avoiding collision by individually generating paths of respective mobile robots, detecting a situation in which collision occurs between the mobile robots, and then modifying the collision path or controlling the speed. The distributed method has the advantage of low individual computation amount, but it is difficult to guarantee the optimum path.
For example, the technique disclosed in Korean Patent No. 10-0670565 is a decentralized method, in which a region where a collision occurs is calculated and a speed profile is adjusted according to a priority to avoid a collision. However, the method disclosed in the above-mentioned Korean Patents has a possibility that the mobile robots are put into a deadlock state because they only avoid the collision by adjusting the speed of the mobile robot in a fixed path. For example, when two mobile robots face each other and change their positions, the above method does not provide a method of avoiding collision.
SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a method and apparatus for generating a path of a plurality of mobile robots by applying a decentralized method, And to provide a path generation method for collision avoidance between robots.
In order to cope with the change of the work plan due to the dynamic obstacle encountered by the mobile robot while driving and the extension of the working time, the collision inspection and the path regeneration are performed to maintain the working efficiency even in the change of the traveling environment occurring during traveling, Another object of the present invention is to provide a path generation method for collision avoidance between a plurality of mobile robots capable of preventing a deadlock state.
According to another aspect of the present invention, there is provided a path generation method for avoiding collision between a plurality of mobile robots, the method comprising: (a) registering a running map on which the plurality of mobile robots travel; (b) registering the initial priority, the origin and the destination for each of the mobile robots; (c) generating a route from the origin to the destination of each of the mobile robots based on the travel map, sequentially generated in the order of the initial priorities, avoiding collision between the routes of the mobile robot; (d) each of the mobile robots travels according to a path generated in the step (c); (e) predicting a collision between the mobile robots in a traveling process of the mobile robots; (f) when a collision between the mobile robots is predicted in the step (e), a path of the mobile robot having the low driving priority is regenerated based on the traveling priority between the pair of mobile robots in which the collision is predicted And a path generation method for avoiding collision between a plurality of mobile robots.
In the step (a), the driving map may be composed of a plurality of nodes and edges connecting the nodes.
Also, the path generated in the step (c) is generated based on any one of a Djikstra algorithm, an A * algorithm, and a D * algorithm; The path generated in the step (c) includes information on the occupancy time of the node and the edge on the path; In the step (c), whether or not occupancy of the nodes and edges on the path generated earlier according to the occupancy time is stored according to the initial priority, and the occupied nodes and edges in the subsequent occupancy time are stored in the path generation Can be excluded.
In the step (c), when there is a mobile robot in which there is no path capable of avoiding a collision among the plurality of mobile robots, the mobile robot may be kept in a waiting state.
In the step (e), collision between any one of the plurality of mobile robots and the remaining mobile robots is sequentially predicted. Wherein the step (f) comprises the steps of: (f1) comparing the traveling priorities of the two mobile robots when a collision with any one of the mobile robots is predicted during the execution of the step (f) if the traveling priority of one of the mobile robots is low in the step (f1), the path of any one of the mobile robots is regenerated; The steps (e), (f1), and (f2) may be sequentially performed on all mobile robots.
If the traveling priority of any one of the mobile robots is high in step (f1), the steps (e), (f1) and (f2) have.
The path generated in step (c) and the path regenerated in step (f) are generated based on any one of a Djikstra algorithm, an A * algorithm, and a D * algorithm; The paths generated and regenerated in the step (c) and the step (f) include information on occupancy times of nodes and edges on the path; In the step (f), it is stored whether or not occupancy of nodes and edges on the pre-generated path with respect to the plurality of mobile robots according to the occupation time is stored, and nodes and edges occupied in the occupation time at the time of path re- .
If the path regenerated in step (f) satisfies the pre-registered waiting condition, the traveling of the mobile robot may be switched to the waiting state.
Here, the initial priority includes an initial priority registered initially for each of the plurality of mobile robots; The traveling priority includes a priority based on the initial priority, a cost based on a route cost from a current location of the mobile robot to a node or an edge where a collision is predicted, and a mission based priority Based on the regeneration route based priority reflecting the path cost of the path to be regenerated excluding the node where the collision is predicted from the position of the mobile robot at present and the regeneration route based priority reflecting the initial priority level, the cost based priority, And a combination priority based on a combination of at least two of the path-based priorities.
According to the present invention, according to the present invention, there is provided a method for generating a path of a plurality of mobile robots by applying a decentralized method, A path generation method is provided.
In order to cope with the change of the work plan due to the dynamic obstacle encountered by the mobile robot while driving and the extension of the working time, the collision inspection and the path regeneration are performed to maintain the working efficiency even in the change of the traveling environment occurring during traveling, There is provided a path generation method for collision avoidance between a plurality of mobile robots capable of preventing a deadlock state.
FIG. 1 is a diagram illustrating a configuration of a path generation system for collision avoidance between a plurality of mobile robots according to the present invention,
FIGS. 2 and 3 are diagrams for explaining a path generation method for collision avoidance between a plurality of mobile robots,
4 is a diagram showing an example in which a collision is predicted or deadlocked between mobile robots,
5 is a diagram for explaining the Djikstra algorithm,
6 to 8 are diagrams for explaining a route creation process according to priority in a route creation method for collision avoidance between a plurality of mobile robots according to the present invention,
9 is a view for explaining an example of a driving priority in a path generation method for collision avoidance between a plurality of mobile robots according to the present invention.
Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings.
1 is a diagram illustrating a configuration of a path generation system for collision avoidance between a plurality of
The plurality of
Here, the
Hereinafter, a path generation method according to the present invention will be described in detail with reference to FIG. 2 and FIG. Here, as shown in FIG. 5 and FIG. 9, the driving map applied to the route generating method according to the present invention may include a navigation map including a plurality of nodes and an edge connecting adjacent nodes For example.
4 is a diagram showing an example in which a collision is predicted or deadlocked between the
When two or more
Referring again to FIG. 2, the path generation method according to the present invention will be described in detail. First, a driving map is registered in the route creation system according to the present invention (S20). Here, the travel map is composed of a plurality of nodes and edges, as described above, and the travel map can be registered in the
Then, the initial priority is registered for each mobile robot 200 (S21). In the present invention, the initial priority is determined such that priority is determined and registered for each
As described above, when the values of the initial priority, the destination and the place of departure are registered, a route from the departure point to the destination of each
Here, in the path generation method according to the present invention, the path of the
The Djikstra algorithm, the A * algorithm, and the D * algorithm are applied to generate the shortest path. Referring briefly to FIG. 5, the shortest distance path from the source a to the destination b , All possible paths are generated along the edge connecting the node and the node, and the shortest path is searched by accumulating the distance of the corresponding path.
Here, in the present invention, in the process of generating a route according to the initial priority, the generated route includes the occupation of the node and the edge on the route, and information on the occupancy time.
In the state where occupancy according to the occupancy time of the node and the edge on the path generated first according to the initial priority is stored and the path is generated according to the subsequent initial priority, the node and the edge occupied in the occupancy time Is excluded from the path generation of the
6, when the
The path of the
Then, the path of the
Therefore, in the path generation of the
Herein, in the process of generating paths in the order of the initial priorities for the plurality of
Through the above process, when the path creation of each
A collision check and a path regeneration process for regenerating a path in the case where a collision is predicted are performed in the traveling process of the
Even if a collision-avoided path is generated for each of the
(Hereinafter, referred to as a 'target mobile robot 200') among a plurality of
Then, when the comparison
When the above process is performed on all the
FIG. 3 is a diagram illustrating an algorithm for performing the collision detection and path regeneration process as described above. The collision inspection and path regeneration process according to the present invention will be described in more detail with reference to FIG. Herein, the execution cycle of the collision check and the path regeneration process is performed every time when one of the
Steps S30 and S31 represent the initialization process of the variable. n denotes an index of the target
If a collision between the current target
In addition, the driving priority may be provided in a form different from the initial priority. For example, a task-based priority that reflects the importance of a given task to each
As another example, a regeneration path based priority that reflects the path cost of the path to be regenerated is excluded except for the node where the collision is predicted from the position of the
In addition, the cost based priority in which the path cost from the position of the current
Here, the driving priority may be provided in a combination priority form based on at least two combinations of the initial priority, the cost based priority, the mission based priority, and the route based priority. For example, it is possible to newly reflect the priority order of the current
In this way, the traveling priority of the
Referring again to FIG. 3, if it is determined that the driving priority of the target
On the other hand, after the path is regenerated, it is determined whether the target
If the waiting condition is not satisfied in step S35, that is, when the path is regenerated, the regeneration path is determined as a new path of the target
As described above, when the current target
On the other hand, if no collision between the current comparison
It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to be exemplary and explanatory only and are not to be construed as limiting the scope of the inventive concept. And it is obvious that it is included in the technical idea of the present invention.
100: Control center 200: Mobile robot
Claims (9)
(a) registering a running map on which the plurality of mobile robots travel;
(b) registering the initial priority, the origin and the destination for each of the mobile robots;
(c) generating a route from the departure location to the destination of each of the mobile robots based on the travel map, sequentially generated in the order of the initial priorities, avoiding collision between the routes of the mobile robot;
(d) each of the mobile robots travels according to a path generated in the step (c);
(e) predicting a collision between the mobile robots in a traveling process of the mobile robots;
(f) when a collision between the mobile robots is predicted in the step (e), a path of the mobile robot having the low driving priority is regenerated based on the traveling priority between the pair of mobile robots in which the collision is predicted Wherein the plurality of mobile robots are connected to the plurality of mobile robots.
Wherein the traveling map comprises a plurality of nodes and an edge connecting the nodes in the step (a).
Wherein the path generated in step (c) is generated based on any one of a Djikstra algorithm, an A * algorithm, and a D * algorithm;
The path generated in the step (c) includes information on the occupancy time of the node and the edge on the path;
In the step (c), whether or not occupancy of the nodes and edges on the path generated earlier according to the occupancy time is stored according to the initial priority, and the occupied nodes and edges in the subsequent occupancy time are stored in the path generation Wherein the plurality of mobile robots are excluded from the plurality of mobile robots.
Wherein, in the step (c), when there is a mobile robot in which there is no path capable of avoiding a collision among the plurality of mobile robots, the mobile robot is maintained in a running waiting state, A method for generating a route for a route.
In the step (e), collision between any one of the plurality of mobile robots and the remaining mobile robots is sequentially predicted;
The step (f)
(f1) comparing the traveling priorities of the two mobile robots when a collision with any one of the mobile robots is predicted during the step (e); and
(f2) when the traveling priority of one of the mobile robots is low in the step (f1), the path of any one of the mobile robots is regenerated;
Wherein the steps (e), (f1), and (f2) are performed sequentially for all mobile robots.
The steps (e), (f1), and (f2) are performed for the mobile robot having the higher traveling priority of any one of the mobile robots in the next step (f1) Wherein the plurality of mobile robots are connected to the plurality of mobile robots.
Wherein the path generated in step (c) and the path regenerated in step (f) are generated based on any one of a Djikstra algorithm, an A * algorithm, and a D * algorithm;
The paths generated and regenerated in the step (c) and the step (f) include information on occupancy times of nodes and edges on the path;
In the step (f)
Wherein the occupancy of nodes and edges on the pre-created path with respect to the plurality of mobile robots is stored according to the occupancy time, and nodes and edges occupied in the occupying time at the time of path reclamation are excluded from the path creation. A path generation method for collision avoidance between mobile robots.
Wherein when the path regenerated in the step (f) satisfies the pre-registered waiting condition, the traveling of the mobile robot is switched to the waiting state.
Wherein the initial priority includes an initial priority initially registered for each of the plurality of mobile robots;
The driving priority is
The initial priority,
A cost based priority in which a path cost from a position of the mobile robot to a node or an edge at which a collision is predicted is reflected,
A task-based priority in which the mission importance of the mobile robot is reflected,
Based on a regeneration route based priority in which a path cost of a path to be regenerated is reflected excluding a node for which a collision is predicted from a current position of the mobile robot,
And a combination priority based on at least two combinations of the initial priority level, the cost-based priority, the mission-based priority, and the regeneration path-based priority. A method for generating a route.
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CN107728609A (en) * | 2016-08-10 | 2018-02-23 | 鸿富锦精密电子(天津)有限公司 | Intelligent motion control system and intelligent motion control method |
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