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Multirobot scheduling method based on critical zone locking and unlocking

A multi-robot, scheduling method technology, applied in the direction of instruments, control/regulation systems, two-dimensional position/channel control, etc., can solve the problems of mutual interference, mutual interference of robots, etc., and achieve the effect of a large feasible range

Active Publication Date: 2016-11-23
SHENZHEN PUDU TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

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.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0023] 1. System topology

[0024] The system adopts the CS (client, server) model, each robot acts as a client, and the core algorithm of the scheduling system runs on the server.

[0025] 2. Communication scheme

[0026] The system consists of a wifi network covering all robot operating environments to form a communication network.

[0027] 3. Positioning method

[0028] The system uses indoor base stations, combined with GPS positioning algorithm to realize the positioning of each robot.

[0029] 4. Map construction

[0030] The system uses lidar to scan the map before the robot runs, and stores the map on each robot and the central server.

[0031] 5. Path planning algorithm

[0032] Based on the map scanned by lidar, on this map, each robot calculates the shortest path from the current position to the target position based on the single-source shortest path dijstra algorithm.

[0033] 6. Critical section identification algorithm

[0034] A critical section is an "a...

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PUM

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Abstract

The invention relates to a robot scheduling method, in particular to a scheduling method capable of achieving schedule by dividing a robot operation environment in a critical zone mode and through a locking mechanism.

Description

technical field [0001] The invention relates to a robot dispatching method, in particular to a dispatching method for dividing critical areas of a robot operating environment and realizing dispatch through a locking mechanism. 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 invention discloses a method, so that a plurality of robots moving indoors can reasonably avoid other robots when walking on a preset pair of paths, without interfering with each other and colliding with each other. Contents of the invention [0003] A multi-robot scheduling method based on critical section locking and unlocking, comprising the following steps: [0004] 1) Th...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0289
Inventor 虞坤霖张涛
Owner SHENZHEN PUDU TECH CO LTD
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