Multi-AGV mobile robot path optimization method based on two-dimensional code navigation

A mobile robot, path optimization technology, applied in two-dimensional position/channel control and other directions, can solve problems such as path deadlock and reduce system operating efficiency

Pending Publication Date: 2022-04-12
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

However, when the priority planning method is applied to warehousing logistics, path deadlock may occur due to the repetitive sections of the path planning of multiple AGVs, such as figure 1 shown
In the traffic control law, the movement path of each robot is independently planned, and then the speed of the robot is changed during the movement to achieve conflict-free movement between the robots, but this method will reduce the operation of the system when avoiding collisions and obstacles. efficiency

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  • Multi-AGV mobile robot path optimization method based on two-dimensional code navigation
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  • Multi-AGV mobile robot path optimization method based on two-dimensional code navigation

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Embodiment Construction

[0042] The technical solutions in the embodiments of the present invention will be described clearly and in detail below with reference to the drawings in the embodiments of the present invention. The described embodiments are only some of the embodiments of the invention.

[0043] see figure 2 , the concrete scheme that the present invention adopts is:

[0044] S1, based on the two-dimensional code road sign pasting method in the actual terrain map state, is redefined as:

[0045] S11, the work site and special location information are abstracted into nodes, but the nodes are represented by a grid, and the size of the grid unit is uniform, and the connectivity between nodes is the direction that the grid allows. Assuming that the number of grids is n, the map can be expressed as:

[0046] G=(D,P,B) (1)

[0047] D=(Up,Down,Left,Right) (2)

[0048] P={P i |i∈n} (3)

[0049] B={b ij |i,j∈n} (4)

[0050] Equation (2) represents the direction of travel of the grid, and Equ...

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Abstract

The invention discloses a multi-AGV mobile robot path optimization method based on two-dimensional code navigation. The multi-AGV mobile robot path optimization method comprises the steps that S1, a two-dimensional code landmark pasting mode in an actual terrain map state is stipulated; s2, a multi-mobile-robot operation priority strategy is set based on the AGV battery electric quantity; s3, proposing a programmed obstacle avoidance algorithm based on the two-dimensional code mobile robot based on an A * algorithm, and avoiding conflicts generated in the operation process of the robot; and S4, reducing the possibility of vertical collision of the AGV mobile robot in the operation process by adopting a scheduling traffic rule based on a path intersection. According to the invention, based on an actual factory test environment, the above strategies are tested on a two-dimensional code map with 50% of obstacles; experimental results show that the multi-AGV mobile robot path optimization method based on two-dimensional code navigation provided by the invention can enable the overall path length to be shortest on the basis of keeping the multi-robot path search efficiency and safety.

Description

technical field [0001] The invention belongs to the field of robot path planning and multi-robot scheduling, in particular to an optimization method for shortest path deadlock and path conflict phenomena of multi-AGV mobile robots based on two-dimensional code navigation. Background technique [0002] With the increasing demand for logistics automation equipment in the market, robots have been more and more widely used in the logistics industry. In recent years, the explosive growth of e-commerce and express delivery industry has given birth to the vigorous development of logistics robots. The work of palletizing, depalletizing, and handling has penetrated into the links of warehousing, sorting, and distribution. [0003] According to the application field, logistics robots are divided into two categories: one is used for industrial manufacturing, and the other is used for commercial logistics. The functions realized by logistics robots are mainly handling, palletizing, dep...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0289G05D1/0217
Inventor 罗元路嘉锴秦琼张毅
Owner CHONGQING UNIV OF POSTS & TELECOMM
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