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Route search method of multi-robot scheduling system

A route search and scheduling system technology, applied in the direction of navigation calculation tools, etc., to avoid multi-vehicle conflicts, save search time, and avoid conflicts

Active Publication Date: 2016-06-22
江苏哈工智新科技股份有限公司
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  • Abstract
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  • Claims
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Problems solved by technology

[0014] In order to solve the problems of existing path search methods, the present invention proposes a path search method for a multi-robot dispatching system

Method used

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  • Route search method of multi-robot scheduling system

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Embodiment Construction

[0043] The purpose of the present invention is to provide a path search method for a multi-robot dispatching system, which can improve the moving speed of the robots as much as possible, and can prevent accidents such as collision or blocking between robots.

[0044] The node in the present invention refers to one of the most basic elements in the terrain element, which is regarded as a coordinate point in the map.

[0045] The short path refers to one of the most basic elements in the terrain element, which is formed by connecting two nodes. On this short path, there are no other nodes between the above two nodes.

[0046] A full path refers to a path formed by a series of nodes and short paths between the start point and the end point specified by the input parameters, but these nodes cannot be repeated.

[0047] A path is a walking route between two nodes, and there are short paths, full paths, and so on.

[0048] Navigation methods mainly refer to visual navigation, laser...

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Abstract

The invention discloses a route search method of a multi-robot scheduling system.By means of the method, initial route planning is conducted in robot scheduling in the multi-robot system, certain search limit conditions are added, and the optimal routes are found within a short period of time and output in the form of sets, so a subsequent algorithm can select other routes when an original route is blocked.The method is suitable for the scene and navigation mode with multiple robots and solves the problem that an existing route search method is slow in traversing or large in required space.

Description

【Technical field】 [0001] The invention belongs to the field of multi-robot design, in particular to a path search method for a multi-robot scheduling system. 【Background technique】 [0002] At present, with the rapid development of new technologies, the application of robots is becoming more and more extensive, and the number of robots in the same map may be more than one. Each robot performs its own task, which usually requires moving from a starting position (start point) to a target position (destination point). Multiple nodes are allocated in the above map, and the path planning of all robots in the map can only be set through the nodes, and the robot moves through the nodes. [0003] When a robot moves from the starting point to the end point, there are many paths, but these paths may intersect or even overlap with the paths of other robots. Therefore, a unified robot scheduling system is needed to coordinate the moving path of the robot to prevent collisions and othe...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 乔徽许江帆高恩颖
Owner 江苏哈工智新科技股份有限公司
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