WO2024117609A1

WO2024117609A1 - Real-time multiple robot driving control method and system

Info

Publication number: WO2024117609A1
Application number: PCT/KR2023/018146
Authority: WO
Inventors: 오윤선; 강운상
Original assignee: 한양대학교 산학협력단
Priority date: 2022-11-30
Filing date: 2023-11-13
Publication date: 2024-06-06
Also published as: KR20240081591A

Abstract

Disclosed are a real-time multiple robot driving control method and system. A robot driving control method carried out by a driving control system, according to one embodiment, may comprise the steps of: on the basis of path plans for multiple robots, generated according to a request for moving the multiple robots, transmitting respective control commands to the robots; and monitoring the environment of the multiple robots which are moving according to the transmitted control commands for the respective robots.

Description

Multi-robot real-time driving control method and system

The explanation below is about technology for controlling the movement of multiple robots.

Recently, robot technology has been applied to various fields due to advances in computer engineering, machinery, and electrical and electronic technologies. Various tasks are efficiently performed using multiple robots by considering the robot's driving situation in real time. It takes a long time to complete a task with a single robot, but by using multiple robots, the time required to perform the task can be reduced.

However, even if multiple robots plan their paths to avoid collisions with each other, if they follow the planned path without monitoring, collisions may occur due to errors that occur when the robots move. The prior art has a problem in that it costs money to re-search after recognizing a problem by using a method of detecting the possibility of a collision or re-planning the route from the beginning when the planned route is impossible.

A method and system for controlling the movement of multiple robots can be provided by transmitting a robot control command in consideration of the real-time movement situation of the robot when a path plan for the multiple robots is given.

By managing the order of robots passing through each node through a path queue, it is possible to provide a method and system for preventing the possibility of collision even if there are shared nodes on the topology map in the path plan of multiple robots.

By updating the route queue in real time, a method and system can be provided for the robot to carry out the plan without collision.

A robot travel control method performed by a travel control system includes the steps of transmitting a control command to each robot based on a multi-robot path plan generated in response to a movement request of the multiple robots; And it may include monitoring the environment of multiple robots moving according to the transmitted control commands of each robot.

The transmitting step may include monitoring the environment of the multiple robots and transmitting a control command including identification information (ID) of the robot and node information to move the path according to the situation of each robot.

The transmitting step may include receiving a multi-robot movement request including robot identification information, a starting node, and a receiving node from each robot, and transmitting the received multi-robot movement request to a path search module. You can.

In the transmitting step, a path plan including node information to move the path according to the movement request of the robot is generated in the path search module, and for the generated path plan, identification information of the robot and the path to be moved for each robot are generated. It may include receiving a route plan including a node list.

The monitoring step may include generating a path queue that stores the order in which robots pass through nodes based on the generated path plan for the multi-robot.

The monitoring step includes checking the movement order of each robot by checking the generated path queue in order for each robot to move to the next target node based on the current node of each robot, and checking the movement order of each robot in the generated path queue. The method may include checking the next target node to be moved, and transmitting a movement command to the robot if the identification information of the robot present in the path queue matches the ID of the robot.

The monitoring step includes checking the movement status of the robot moving according to the movement command, removing the identification information (ID) of the robot that passed the next target node from the route queue, and removing the movement command from the route queue. This may include updating another next target node as it is confirmed to be complete.

The monitoring step may include checking whether it is possible to move from the path queue to the next target node at the location of the next target node and transmitting a movement command to a robot that can move.

The robot travel control method may include a computer program stored in a non-transitory computer-readable recording medium to execute the method on the travel control system.

A navigation control system comprising: at least one processor configured to execute computer-readable instructions included in a memory, wherein the at least one processor executes a multi-robot path plan based on a multi-robot movement request; Control commands can be transmitted to each robot, and the environment of multiple robots moving according to the transmitted control commands of each robot can be monitored.

By presenting a route queue that can reflect the planned route and the executed route in real time, it is possible to prevent situations in which a given route execution causes a conflict due to an error and reduce the cost due to route replanning.

Figure 1 explains the system application environment in one embodiment.

Figure 2 is a diagram for explaining the general operation of a multi-robot travel controller in one embodiment.

Figure 3 is a flowchart for explaining a robot travel control method, according to one embodiment.

4 to 8 are diagrams for explaining a driving control operation in an environment with two robots, according to an embodiment.

9 and 10 are diagrams for explaining a driving control operation in an environment with three robots, according to an embodiment.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings.

In the embodiment, the operation of real-time monitoring, plan modification, and driving management of the situation of the multiple robots will be described considering the case where the multi-robot does not perform the path as planned due to a disturbance when the planned path is actually performed. . This allows it to be used in addition to arbitrary multi-robot path planning algorithms and to operate robustly to disturbances.

Figure 1 explains the system application environment in one embodiment.

A fixed environment, such as a factory environment, can be expressed as a topological map. The location where each robot can move can be expressed as a node (point in Figure 1), and if movement between nodes is possible, the two nodes are connected by a line. At this time, two robots cannot exist in one node at the same time, and if two robots move toward the same node at the same time, a collision occurs, and the robots can wait at each node to avoid collision.

Hereinafter, a navigation controller (driving control system) may be configured to centrally control a plurality of robots so that they can move around without collision in one environment. From the configured navigation controller, control commands for the movement of the robot can be delivered to each robot in the form of (start point, destination point). Even if multiple robots plan a path to avoid collision with each other, if the planned path is followed without monitoring, the robot's plan is monitored by monitoring the actual robot movement situation to avoid collisions that may occur due to errors that occur during robot movement. The system for modification and management will be defined as a navigation controller (driving control system).

The travel control system may include multiple robot controllers 210. The multi-robot controller 210 may communicate with the path search module 220 or each robot through a network. For example, the multi-robot controller 210 may transmit and receive data with the path search module 220 or each robot through wireless communication (eg, Wi-Fi, Bluetooth, 5G, etc.) or wired communication. The multi-robot controller 210 can receive the path plan of the multi-robots generated by the path search module 220 and transmit control commands to each robot to perform interaction between robots.

The multi-robot controller 210 may receive a robot movement request (Robot ID, departure node, arrival node). The multi-robot controller 210 may transmit robot movement requests including (Robot ID, departure node, destination node) for each robot to the path search module 220. The path exploration module 220 converts the path plan generated in the form of (node1, node2, ..., node n) into the form of (Robot ID, (node1, node2, ..., node n)) to the multi-robot controller (210). ) can be forwarded to. At this time, the planned route can be planned to avoid collisions.

The multi-robot controller 210 can transmit control commands to each robot and perform environmental monitoring. The multi-robot controller 210 can monitor the environment and transmit control commands to the robot. At this time, the robot control command transmitted is (Robot ID, node ID), and the node ID is only available for neighboring nodes directly connected to the current node. The robot can execute commands received from the multi-robot controller 210. The multi-robot controller 210 can perform environmental monitoring to determine whether the robot actually moves as instructed.

In step 310, the travel control system may transmit a control command to each robot based on the path plan of the multiple robots generated according to the movement request of the multiple robots. The travel control system can monitor the environment of multiple robots and transmit control commands including the robot's identification information (ID) and node information to move the path according to the situation of each robot. The travel control system may receive a multi-robot movement request including robot identification information, a starting node, and a receiving node from each robot, and may transmit the received multi-robot movement request to the path search module. The driving control system may receive a path plan for each robot including the robot's identification information and a list of nodes through which the path will be moved for the path plan generated by the path search module.

In step 320, the travel control system may monitor the environment of multiple robots moving according to the control commands of each robot transmitted. The navigation control system may generate a path queue that stores the order in which the robots pass through nodes based on the generated path plan of the multi-robot. The driving control system checks the movement order of each robot by checking the path queue generated by each robot to move to the next goal node based on the current node of each robot, and selects the next goal node to which the robot will move from the generated path queue. After checking, if the robot's identification information in the path queue matches the robot's ID, a movement command can be sent to the robot. The travel control system checks the movement status of the robot moving according to the movement command, removes the identification information (ID) of the robot that has passed the next target node from the route queue, and, as it is confirmed that the movement command is completed in the route queue, another The next target node can be updated. The travel control system can check whether it is possible to move to another next target node in the path queue at the location of the next target node and transmit a movement command to the robot that can move.

Referring to Figure 4(a), it shows the path plan generated for each robot. Robot 1 moves to node 1, node 2, node 2, node 3, node 4, and node 5 at each time (t), and robot 2 moves to node 5, node 4, node 3, node 7, and node 8 at each time (t). A route plan may be created that includes travel to.

The driving control system can receive the planned paths of the two robots in the form of (Robot ID, (node1, node2, ..., node n)). For example, (R1, (1,2,2,3,4,5)) as the planned path for Robot 1, (R2, (5,4,3,7,8)) as the planned path for Robot 2. ) can be delivered. Referring to FIG. 4(b), the travel control system can generate a path queue that stores the order in which the robots pass through nodes based on the generated path plans of the two robots.

The path queue defines a queue that stores the order in which the robot can pass through each node on the environment map. At this time, the following assumptions can be made.

Assumption 1: The robot's path (when the robot id is i) is given in the form P[i]=[v _i1 , v _i2 , ..., v _iT ].

Assumption 2: Number of nodes on the map, n

Assumption 3: Initialize the route queue Q[v]=[]. The IDs of robots passing through node v are stored in list form.

1. Initialize route queue using P[i]

2.for i in robot IDs:

　　If Q[P[i][0]]==i: Transfer command i,P[i][0]

3. Monitoring and updating route queues

　for i in robot IDs:

　　If P[i][0]==Current node of i: Remove P[i][0], Remove Q[Previous position of robot i][0]

Repeat 2-3 times until the robot completes the movement according to the planned path.

Referring to FIG. 5(a), the movement order of each robot can be confirmed by checking the path queue for each robot to move to the next target node based on the current node of each robot. The driving control system checks the path queue for the next target node for the robot to move to, and if the first ID in the path queue matches the robot's ID, it can deliver a movement command to the robot. For example, assuming that at t=1, robot 1 is currently located at node 1, and robot 2 is currently located at node 5, robot 1 must move from node 1 to node 2 according to the planned path, and the robot 2 must move to node 4. The travel control system may generate movement commands called (R1, 2) (R2, 4). The travel control system can transmit a movement command to robot 1 to move to node 2, and can transmit a movement command to robot 2 to move to node 4. Accordingly, each robot moves according to the movement command received. As such, for convenience of explanation, the robot's movement command is only transmitted to one adjacent node as an example, but may also be transmitted in a sequence to multiple nodes as needed. For example, in the case of a sequence type, a movement command (R2, 4, 5) may be transmitted instead of a movement command (R2, 4).

Referring to FIG. 5(b), the travel control system can check the movement status of the robot moving according to the received movement command and remove the identification information (ID) of the robot that has passed the next target node from the path queue. For example, at t=2, it can be confirmed that robot 1 has passed through node 1 and is currently located at node 2, and robot 2 has passed through node 5 and is currently located at node 4. The navigation control system can remove the passed (already passed) nodes, robot 1 from node 1, and robot 2 from node 5, from the route queue. The driving control system may update another next target node as the movement command received in the route queue is confirmed to be complete.

Referring to FIG. 5(c), the travel control system can check whether it is possible to move to the next target node in the path queue at the location of the current node and transmit a movement command to the robot that can move. For example, at t=2, it can be confirmed that currently, robot 1 is located at node 2 and robot 2 is located at node 4. Robot 1 must move from node 2 to node 3, and robot 2 must move from node 4 to node 3. The travel control system can check whether movement to the next target node is possible in the path queue and transmit movement commands only to robots that can move. In the embodiment, both node 1 and node 3 are moved to node 3, so there is a possibility of collision. Accordingly, the travel control system may give priority to move to road 3 to any one of robot 1 and robot 2. For example, the travel control system may send movement commands only to robot 2.

Referring to FIG. 6, the process of FIG. 5 (robot movement, robot movement status monitoring, route queue update, and movement command transmission, etc.) may be repeated. Referring to FIG. 6(a), for example, in the third situation (t=3), robot 1 may currently be located at node 2, and robot 2 may currently be moving from node 4 to node 3. In other words, in the case where robot 2 has not yet reached node 3 and has not completely left node 4, the travel control system does not generate a movement command.

Referring to FIG. 6(b), for example, at t=4, it can be confirmed that currently, robot 1 is located at node 2 and robot 2 is located at node 3. The navigation control system may remove robot 2 from the route queue, from the passed node, i.e. node 4. Robot 1 must move to node 3, and robot 2 must move to node 7. The driving control system may update the route queue with the next target node. At this time, since robot 2 is located at node 3, the travel control system can generate a movement command called (R2, 7). The travel control system may first transmit a movement command to Robot 2.

Referring to FIG. 6(c), it can be confirmed that robot 1 is currently located at node 2 and robot 2 is located at node 7 at t=5. The navigation control system may remove robot 2 from the passed node, i.e. node 3, in the path queue. Robot 1 must move to Robot 3, and Robot 2 must move to Robot 7. The driving control system may update the route queue with the next target node. The driving control system can generate movement commands called (R1, 3) and (R2, 7). The travel control system can transmit the generated movement command to each robot.

Referring to FIG. 7(a), it can be confirmed that robot 1 is currently located at node 3 and node 2 is located at node 8 at t=6. The navigation control system may remove the passed node, i.e., robot 1 of node 2, from the path queue. Robot 1 must move to node 4, and robot 2 has completed its movement according to the planned path and does not need to move. The driving control system may update the route queue with the next target node. The travel control system can only generate movement commands for robot 1. The travel control system can transmit a movement command called (R1, 4) to robot 1.

Referring to FIG. 7(b), it can be confirmed that at t=7, robot 1 is currently located at node 4 and robot 2 is located at node 8. The navigation control system may remove the passed node, i.e., robot 1 of node 3, from the route queue. The driving control system may update the route queue with the next target node. Because robot 1 needs to move to node 5, the travel control system can generate a movement command for robot 1. The travel control system can transmit a movement command called (R1,5) to Robot 1.

Referring to FIG. 7(c), it can be confirmed that robot 1 is currently located at node 5 and robot 2 is located at node 8 at t=8. The navigation control system may remove the passed node, i.e., robot 1 of node 4, from the route queue. The driving control system may update the route queue with the next target node. At this time, when Robot 1 and Robot 2 have completed all movements according to the planned path, there is no movement command.

FIGS. 8 and 10 are diagrams for explaining a driving control operation in an environment with three robots, according to an embodiment.

Referring to Figure 8(a), it shows the path plan generated for each robot. Robot 1 moves to node 2, node 2, node 2, node 2, node 3, node 4, and node 5 at each time (t), and robot 2 moves to node 5, node 4, and node 9 at each time, and , a path plan can be created that includes robot 3 moving to node 6, node 5, node 4, node 3, node 7, and node 8.

The driving control system can receive the planned paths of the three robots in the form of (Robot ID, (node1, node2, ..., node n)). For example, (R1, (2,2,2,2,3,4,5)) as the planned path for robot 1, (R2, (5,4,9)) as the planned path for robot 2, (R3, (6,5,4,3,7,8)) can be received as the planned path for robot 3. Referring to FIG. 8(b), the travel control system can generate a path queue that stores the order in which the robots pass through nodes based on the generated path plans of the two robots.

Referring to FIG. 9(a), the movement order of each robot can be confirmed by checking the path queue for each robot to move to the next target node based on the current node of each robot. The driving control system can check the next target node for the robot to move to in the generated path queue and deliver a movement command to the robot if the first ID in the path queue matches the ID of the robot. For example, assuming that at t=1, currently, robot 1 is located at node 2, robot 2 is located at node 5, and robot 3 is located at node 6, according to the planned path, robot 1 is located at node 1. To node 3, robot 2 must move from node 5 to node 4, and robot 3 must move from node 6 to node 5. The travel control system may generate a movement command called (R2, 4). The travel control system may transmit a movement command to robot 2 to move to node 4. Accordingly, robot 2 moves to node 4 according to the received movement command.

Referring to FIG. 9(b), it can be confirmed that at t=2, robot 1 is currently located at node 2, robot 2 is located at node 4, and robot 3 is located at node 6. The navigation control system may remove robot 2 of the passed node, i.e., node 5, from the route queue. Robot 1 must move to node 3, robot 2 must move to node 9, and robot 3 must move to node 5. The driving control system may update the next target node as it is confirmed that the movement command received in the route queue has been completed. The driving control system can generate movement commands called (R2, 9) and (R3, 5). The travel control system can transmit movement commands to Robot 2 and Robot 3. Accordingly, robot 2 moves to node 9 and robot 3 moves to node 5 according to the received movement command.

Referring to FIG. 9(c), it can be confirmed that at t=3, robot 1 is currently located at node 2, robot 2 is located at node 9, and robot 3 is located at node 5. The navigation control system may remove the passed nodes, i.e., robot 2 at node 4 and robot 3 at node 6, from the route queue. Robot 1 must move to node 3, and robot 3 must move to node 4. Robot 2 can complete all movements according to the planned path. The driving control system may update the next target node as it is confirmed that the movement command received in the route queue has been completed. The travel control system may generate a movement command called (R3, 4). The travel control system can transmit a movement command to Robot 3. Accordingly, robot 3 moves to node 4 according to the received movement command.

Referring to FIG. 9(d), it can be confirmed that at t=4, robot 1 is currently located at node 2, robot 2 is currently located at node 9, and robot 3 is currently located at node 4. The navigation control system may remove the passed node, i.e., robot 3 of node 5, from the route queue. Robot 1 must move to node 3, and robot 3 must move to node 3. The driving control system may update the next target node as it is confirmed that the movement command received in the route queue has been completed. The travel control system may generate a movement command called (R3, 3). The travel control system can transmit a movement command to Robot 3. Accordingly, robot 3 moves to node 3 according to the received movement command.

Referring to FIG. 10(a), it can be confirmed that at t=5, robot 1 is currently located at node 2, robot 2 is located at node 9, and robot 3 is located at node 3. The navigation control system may remove robot 3 of the passed node, i.e., node 4, from the route queue. Robot 1 must move to node 3, and robot 3 must move to node 7. The driving control system may update the next target node as it is confirmed that the movement command received in the route queue has been completed. The travel control system may generate a movement command called (R3, 7). The travel control system can transmit a movement command to Robot 3. Accordingly, robot 3 moves to node 7 according to the received movement command.

Referring to FIG. 10(b), it can be confirmed that at t=6, robot 1 is currently located at node 2, robot 2 is located at node 9, and robot 3 is located at node 7. The navigation control system may remove robot 3 of the passed node, i.e., node 3, from the route queue. Robot 1 must move to node 3, and robot 3 must move to node 8. The driving control system may update the next target node as it is confirmed that the movement command received in the route queue has been completed. The driving control system can generate movement commands called (R1, 3) and (R3, 8). The travel control system can transmit movement commands to Robot 1 and Robot 3. Accordingly, robot 1 moves to node 3 and robot 3 moves to node 8 according to the received movement command.

Referring to FIG. 10(c), it can be confirmed that at t=7, robot 1 is located at node 2, robot 2 is located at node 9, and robot 3 is located at node 7. The navigation control system may remove the passed nodes, i.e., robot 1 at node 2 and robot 3 at node 7, from the route queue. Robot 1 must move to node 4. Robot 3 can complete all movements according to the path plan. The driving control system may update the next target node as it is confirmed that the movement command received in the route queue has been completed. The travel control system can generate a movement command called (R1, 4). The travel control system may transmit a movement command to Robot 1. Accordingly, robot 1 moves to node 4 according to the received movement command.

Referring to FIG. 10(d), it can be confirmed that at t=8, robot 1 is currently located at node 4, robot 2 is located at node 9, and robot 3 is located at node 8. The navigation control system may remove robot 1 of the passed node, i.e., node 3, from the route queue. Robot 1 must move to node 5. Robot 3 can complete all movements according to the path plan. The driving control system may update the next target node as it is confirmed that the movement command received in the route queue has been completed. The travel control system can generate a movement command called (R1, 5). The travel control system may transmit a movement command to Robot 1. Accordingly, robot 1 moves to node 5 according to the received movement command.

The device described above may be implemented with hardware components, software components, and/or a combination of hardware components and software components. For example, devices and components described in embodiments may include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), etc. , may be implemented using one or more general-purpose or special-purpose computers, such as a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. A processing device may execute an operating system (OS) and one or more software applications that run on the operating system. Additionally, a processing device may access, store, manipulate, process, and generate data in response to the execution of software. For ease of understanding, a single processing device may be described as being used; however, those skilled in the art will understand that a processing device includes multiple processing elements and/or multiple types of processing elements. It can be seen that it may include. For example, a processing device may include a plurality of processors or one processor and one controller. Additionally, other processing configurations, such as parallel processors, are possible.

Software may include a computer program, code, instructions, or a combination of one or more of these, which may configure a processing unit to operate as desired, or may be processed independently or collectively. You can command the device. Software and/or data may be used on any type of machine, component, physical device, virtual equipment, computer storage medium or device to be interpreted by or to provide instructions or data to a processing device. It can be embodied in . Software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., singly or in combination. Program instructions recorded on the medium may be specially designed and configured for the embodiment or may be known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -Includes optical media (magneto-optical media) and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, etc. Examples of program instructions include machine language code, such as that produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc.

As described above, although the embodiments have been described with limited examples and drawings, various modifications and variations can be made by those skilled in the art from the above description. For example, the described techniques are performed in a different order than the described method, and/or components of the described system, structure, device, circuit, etc. are combined or combined in a different form than the described method, or other components are used. Alternatively, appropriate results may be achieved even if substituted or substituted by an equivalent.

Therefore, other implementations, other embodiments, and equivalents of the claims also fall within the scope of the claims described below.

Claims

In a robot travel control method performed by a travel control system,

Transmitting a control command to each robot based on a path plan for the multiple robots generated according to the movement request of the multiple robots; and

Monitoring the environment of multiple robots moving according to the control commands of each robot transmitted.

A robot traveling control method comprising:
According to paragraph 1,

The transmitting step is,

Monitoring the environment of the multiple robots and transmitting a control command including identification information (ID) of the robot and node information to move the path according to the situation of each robot.

A robot traveling control method comprising:
According to paragraph 2,

The transmitting step is,

Receiving a multi-robot movement request including robot identification information, a starting node, and a receiving node from each robot, and transmitting the received multi-robot movement request to a path search module.

A robot traveling control method comprising:
According to paragraph 3,

The transmitting step is,

In the path search module, a path plan including node information to move the path according to the robot's movement request is generated, and for the generated path plan, a path including identification information of the robot and a list of nodes to move the path for each robot. Steps to receive a plan

A robot traveling control method comprising:
According to paragraph 1,

The monitoring step is,

Creating a path queue storing the order in which robots pass through nodes based on the generated path plan of the multi-robot.

A robot traveling control method comprising:
According to clause 5,

The monitoring step is,

In order for each robot to move to the next target node based on the current node of each robot, the movement order of each robot is checked by checking the generated path queue, and the next target node to which the robot will move is confirmed from the generated path queue. Then, if the identification information of the robot present in the path queue matches the ID of the robot, transmitting a movement command to the robot

A robot traveling control method comprising:
According to clause 6,

The monitoring step is,

The movement status of the robot moving according to the movement command is checked to remove the identification information (ID) of the robot that passed the next target node from the route queue, and as the movement command is confirmed to be completed in the route queue, further Steps to update other next target nodes

A robot traveling control method comprising:
In clause 7,

The monitoring step is,

Checking whether it is possible to move from the path queue to the next target node at the location of the next target node and transmitting a movement command to the robot that can move

A robot traveling control method comprising:
A computer program stored in a non-transitory computer-readable recording medium to execute the robot travel control method of any one of claims 1, 2, and 5 on the travel control system.
In the driving control system,

In computer devices,

At least one processor configured to execute computer readable instructions contained in memory

Including,

The at least one processor,

Control commands are sent to each robot based on the multi-robot path plan generated according to the multi-robot movement request,

Monitoring the environment of multiple robots moving according to the control commands of each robot transmitted.

A driving control system characterized in that.
According to clause 10,

The at least one processor,

Monitoring the environment of the multiple robots and transmitting control commands including robot identification information (ID) and node information to move the path according to the situation of each robot.

A driving control system characterized in that.
According to clause 10,

The at least one processor,

Based on the generated path plan of the multi-robot, a path queue that stores the order in which the robot passes through the nodes is generated.

A driving control system characterized in that.
According to clause 12,

The at least one processor,

In order for each robot to move to the next target node based on the current node of each robot, the movement order of each robot is checked by checking the generated path queue, and the next target node to which the robot will move is confirmed from the generated path queue. If the robot's identification information in the path queue matches the robot's ID, a movement command is sent to the robot.

A driving control system characterized in that.
According to clause 13,

The at least one processor,

The movement status of the robot moving according to the movement command is checked and the identification information (ID) of the robot that has passed the next target node is removed from the route queue. As the movement command is confirmed to be completed in the route queue, further Updating another next target node

A driving control system characterized in that.
According to clause 14,

The at least one processor,

Checking whether it is possible to move to the next target node in the path queue at the location of the next target node and sending a movement command to the robot that can move

A driving control system characterized in that.