Multi-robot path dynamic planning method

Abstract

The present invention relates to a multi-robot path dynamic planning method, and the objective of the invention is to solve the problem of multi-robot path dynamic planning in a grid map. The method comprises the steps of: 1, pasting two-dimensional code tags according to an actual condition, and ensuring unique tag numbers, the same direction and the same spacing of the two-dimensional code tags;2, recording and initializing the tag numbers and index serial numbers, and forming a one-to-one correspondence relation; 3, constructing a digraph in a data structure according to two-dimensional data in an actual map; 4, initializing a correlation matrix to calculate the shortest path; 5, initializing a variable, arranging record data and employing the record data to fill in the digraph; 6, employing a Floyd algorithm to calculate the shortest path; 7, when a robot reads the two-dimensional codes to perform path request, adding partial graph boundary weight values; 8, allowing the robot toobtain a total path to a terminal point and performing execution in order; and 9, reducing a partial graph boundary weight value when the robot starts, adding another partial graph boundary weight value, performing reciprocating in this way, and continuously achieving the dynamic path planning of the robot. The multi-robot path dynamic planning method can solve the multi-robot path planning problem in the grid map, and is simple, small in computing amount and good in dynamics.

Description

【Technical field】 [0001] The invention relates to a robot path planning, in particular to a multi-robot path dynamic planning method. 【Background technique】 [0002] At present, relying on Pgv and other visual sensors to realize the robot's autonomous positioning and navigation has become the choice of major robot manufacturers. The principle is that the Pgv sensor obtains the position of the robot relative to the label by continuously reading the corresponding two-dimensional code label. At the same time, the label is determined in advance relative to the overall map to achieve real-time positioning. Through the control center, judge and specify the position that the robot needs to reach in the next step, and finally realize robot navigation. Among them, path planning and navigation for robots in a known environment, that is, choosing a suitable path from a certain point to a certain target point, has always been a hot spot in the research field, and in practice, this path ...

AI Technical Summary

Problems solved by technology

However, the main disadvantages at present are that the robot algorithm is complex, the amount of calculation is large, and the planned route cannot be dynamically adjusted, especially the path planning and dynamic adjustment of multi-robots cannot be solved.

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