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Multi-robot scheduling method based on repulsion potential field

A multi-robot, repulsive potential field technology, applied in the direction of instruments, control/adjustment systems, two-dimensional position/channel control, etc., can solve problems such as robot interference and collision

Inactive Publication Date: 2016-11-23
SHENZHEN PUDU TECH CO LTD
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0003] This application solves the problem that multiple robots will interfere with each other and collide when working in the same working environment

Method used

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  • Multi-robot scheduling method based on repulsion potential field

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Embodiment Construction

[0025] Such as Figure 1 Shown is a graph of the relationship between repulsion force and robot distance, repulsion force = -0.3*log((distance-0.8) / 2). Among them, distance represents the distance between two robots, log represents the logarithm with base 10, and force represents the repulsive force. It can be seen intuitively from the figure that the repulsive force tends to be weak when the distance between the robots is 0.5 meters, which can make the distance between the robots not less than 0.5 meters. The repulsive force tends to be infinitely small when it is based on approaching infinity, that is, the farther robots do not affect each other. Robots that are closer will try to avoid collisions.

[0026] 1. Absolute coordinates

[0027] Each robot uses an indoor base station, combined with the GPS positioning method, to locate the current coordinates of the robot, and the current coordinates are absolute coordinates.

[0028] 2. Map representation

[0029] The map is...

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Abstract

The application relates to a multi-robot scheduling method based on a repulsion potential field. According to the method, walking states of robots are arranged based on repulsions among the robots, so that multiple robots which move indoors reasonably avoid other robots when walking in preset paths, thereby not interfering and colliding with one another. The method can ensure that the robots have no collisions with one another in the operation process, and has the following characteristics that the robot which arrives earlier slightly decelerates and passes when passing a crossroad, the robot which arrives later stops to give way and then passes; on the same road, the robot in the front stops while meeting an obstacle, and the robot in the rear slowly decelerates and stops; in a three-way intersection, the slightly ahead robot slightly accelerates to enter, and the slightly rear robot slightly decelerates to enter; on two roads which are parallel and close to each other, the front-rear distance of the two robots is reasonably adjusted.

Description

technical field [0001] The invention relates to a multi-robot scheduling method, in particular to a scheduling method for scheduling a plurality of robots by artificially adding repulsive force between robots to avoid mutual interference and collision of robots. Background technique [0002] Indoor robots with localization and navigation have more and more applications. However, if only two identical robots are placed in the same environment, mutual interference will occur. This requires a scheduling system to reasonably allocate tasks and resources according to the status of each robot to avoid mutual interference between robots. The current common practice is to divide the working area of ​​each robot so as not to interfere with each other, but this limits the working range of the robot. The invention discloses a method, which enables multiple robots moving indoors to reasonably avoid other robots when walking on a preset path, without interfering with each other and co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0289
Inventor 虞坤霖张涛
Owner SHENZHEN PUDU TECH CO LTD
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