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Automatic parking robot group task scheduling method

A task scheduling and automatic parking technology, which is applied to instruments, data processing applications, forecasting, etc., to achieve the effect of reducing operating costs and improving computing speed

Inactive Publication Date: 2019-04-05
TONGJI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

How to obtain reliable solutions to large-scale vehicle routing problems in a limited time is still a challenge

Method used

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  • Automatic parking robot group task scheduling method
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Embodiment Construction

[0024] The present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

[0025] The present invention proposes a group task scheduling method for automatic parking robots, which can perform group robot task scheduling for the automatic parking system according to real-time operation information, to ensure that the waiting cost of customers' vehicles and the investment cost of parking robots are optimal, and the maximum Utilize parking robot resources to optimize operating costs. The automatic parking robot group task scheduling method comprises the following steps:

[0026] (1) Trigger task scheduling through periodic triggering and event triggering in parallel;

[0027] Wherein, periodic triggering refers to triggering task scheduling every time a set periodic time passes, for example, one minute is used as the triggering period. The priority of event triggering is higher than that of periodic triggering. Event t...

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Abstract

The invention provides a group task scheduling method for an automatic parking robot. The group task scheduling method comprises the following steps: (1) triggering task scheduling; (2) extracting application information of each task application, obtaining the position of a pickup node of each task application, and generating the position of a placement node of the pickup node; Acquiring the positions of all the current free automatic parking robots; (3) searching the shortest access path applied by each task; Generating a cost topological graph among the nodes so as to generate a node cost matrix; (4) carrying out global path planning on each current automatic parking robot, and providing expected arrival time for a client; And (5) adopting a multi-objective cost function in combination with the node cost matrix, evulating the passing cost and the operation cost, carrying out local planning on all the automatic parking robots with the minimum comprehensive cost for completing the batch of tasks as the target, and acquiring the task sequence of each parking robot. According to the method, the calculation speed of the whole plan can be improved to the maximum extent, and the operation cost is reduced.

Description

technical field [0001] The invention belongs to the technical field of intelligent scheduling, and relates to a task scheduling method, in particular to a robot group task scheduling method. Background technique [0002] The intelligent task scheduling of swarm robots aims to realize the task allocation of intelligent robots under the condition of multi-resources and multi-objectives, and reduce the actual operating cost of multi-robots. Specific to the Vehicle Routing Problem (VRP), it refers to a certain number of customers, each with a different quantity of goods demand, the distribution center provides the goods to the customers, and a fleet is responsible for distributing the goods, organizing an appropriate driving route, the goal is to make The needs of customers are met, and under certain constraints, goals such as the shortest distance, the smallest cost, and the least time-consuming can be achieved. If the demand point has requirements on the arrival time of the v...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06Q10/06G06Q10/04
CPCG06Q10/047G06Q10/06311G06Q10/06316
Inventor 陈广董金虎余卓平王法杜嘉彤
Owner TONGJI UNIV
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