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A collaborative path planning method for multi-logistics robots based on task priority

A logistics robot and task priority technology, applied in the direction of instruments, motor vehicles, two-dimensional position/channel control, etc., can solve the problems of optimization space, ignoring particularity, ignoring and other problems of the obtained path, so as to avoid unnecessary detours behavior, improve logistics efficiency, and optimize the effect of planning routes

Active Publication Date: 2022-04-01
HUNAN UNIV
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Problems solved by technology

[0005] (2) The conflict handling method of the CA* algorithm completely depends on the global reserved table, ignoring the possibility of multi-robot cooperative behavior to avoid dynamic obstacles, and its cost function also ignores the particularity of multi-robot path planning compared to single-machine, There is room for optimization in the cost of the resulting path

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  • A collaborative path planning method for multi-logistics robots based on task priority
  • A collaborative path planning method for multi-logistics robots based on task priority
  • A collaborative path planning method for multi-logistics robots based on task priority

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[0043] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0044] Aiming at the existing problems, the present invention provides a multi-logistics robot collaborative path planning method based on task priority, such as figure 1 As shown, a multi-logistics robot collaborative path planning method based on task priority of the present invention includes the following steps:

[0045] Step S1, input the warehouse map and logistics task list: the warehouse map includes feasible paths, location nodes, static obstacles (such as walls, shelves, charging piles) and warehouse map storage map size information; the logistics task list includes the complete logistics of all tasks Requirements, including the timeliness level of the goods transported in each task, the AGV (Automated Guided Vehicle) that c...

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Abstract

The present invention provides a multi-logistics robot collaborative path planning method based on task priority, including the following steps: Step S1, input warehouse map and logistics task list; Step S2, calculate the priority of each task in the task list: traverse the task list , according to the timeliness level of the current goods and the remaining power of the current AGV, calculate the priority of each task; step S3, generate an ordered task list by sorting in descending order of priority, use the improved CA* algorithm to traverse the ordered task list, and then for each Plan feasible paths for each task and output all task paths. The invention adopts the improved CA* algorithm, introduces the robot's waiting behavior in place when multiple machines conflict, avoids the unnecessary detour behavior of the robot with a lower priority, and can save resources and improve efficiency when performing logistics tasks in the storage system.

Description

technical field [0001] The invention relates to the technical field of mobile robot path planning, in particular to a multi-logistics robot collaborative path planning method based on task priority. Background technique [0002] As one of the three cores of Industry 4.0, intelligent logistics has received widespread attention; the rapid development of e-commerce has also brought unprecedented volume and complexity of waybills to the warehousing and logistics industry. In order to improve work efficiency, multiple logistics robots have begun to be used in automated warehouses to deliver goods at the same time. In this process, a reasonable multi-robot path planning algorithm is needed to help multiple mobile robots in the warehouse avoid collisions (including collisions between robots and environmental obstacles, and collisions between mobile robots), and deliver goods at the lowest possible cost. target location. [0003] The A* (A-Star, the most effective direct search me...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0287
Inventor 缪志强鲁媛李嘉诚黑泽仁于天宇廖邦彦王凡硕
Owner HUNAN UNIV
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