Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

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
View PDF0 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Multi-AGV mobile robot path optimization method based on two-dimensional code navigation
  • Multi-AGV mobile robot path optimization method based on two-dimensional code navigation
  • Multi-AGV mobile robot path optimization method based on two-dimensional code navigation

Examples

Experimental program
Comparison scheme
Effect test

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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
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
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com