Mobile robot path planning method used in intensive storage zone

Abstract

The invention relates to a mobile robot path planning method used in an intensive storage zone. The mobile robot path planning method is technically characterized by comprising the following steps: step 1, an initialized net type path diagram is set up by a scheduling layer server; step 2, a cargo storage task is divided into an empty trunk cargo searching subtask and a loading delivering subtask by the scheduling layer server; step 3, a dynamic planning path of the mobile robot is established by the scheduling layer server and a dynamic planning path of the mobile robot is sent to the mobile server; step 4: the mobile robot executes the corresponding subtask; step 5: the mobile robot sends a state report of the mobile robot to the scheduling layer server; and step 6, the scheduling layer server updates the current position, the load state, and a weight related to an original starting point and a target point of the mobile robot. By dividing every task into the empty trunk cargo searching subtask and the loading delivering subtask, according to the planning paths of different subtasks, the complexity of a safety collision prevention operation of a plurality of mobile robots is reduced, and the instantaneity and the effectiveness of the system are improved.

Description

Technical field [0001] The invention belongs to the field of mobile robots, in particular to a mobile robot path planning method for dense storage areas. Background technique [0002] When mobile robots are used in logistics warehousing and parking lots, it is necessary to find a working path from a given starting point to the end point under the conditions of obstacles, high-density storage and few roadways, so that the mobile robot can be able to move. Safely bypass all obstacles. [0003] At present, mobile robot path planning methods mainly include two types: 1. Global path planning: plan a collision-free path in advance, find the feasible or optimal path from the starting point to the target point according to the known environment model, and its environment information Most of them are static obstacles; 2. Local path planning: The working environment is unknown or partly unknown, and the size, shape and position information of the obstacle must be obtained through sensors, a...

AI Technical Summary

Problems solved by technology

However, this method is only based on the improvement of grid calculation, and its existing problems are: the path planning of mobile robots is still restricted by obstacles, and when obstacles appear, they must go around them, and the resulting time and space consumption is helpless

[0005] The advantage of the global path planning of the mobile robot path planning method is that it is safe and reliable, but the disadvantage is that it is more dependent on the static environment, and the response to frequently changing environmental information is not timely enough. Therefore, it is necessary to establish an environmental information that can track changes in real time. , it is necessary to ensure the global path planning method of "real-time re-planning"

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