CN107992060B - Path planning method and system for multiple mobile robots - Google Patents
Path planning method and system for multiple mobile robots Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The embodiment of the invention provides a path planning method and system for multiple mobile robots, and belongs to the technical field of robots. The path planning method of the multi-mobile robot comprises the following steps: acquiring the current positions and planned paths of a plurality of mobile robots respectively; determining a degree of dense distribution with respect to the mobile robots in a plurality of divided blocks in a predetermined area based on current positions of the plurality of mobile robots; determining the respective window time of the plurality of divided blocks according to the dense distribution degree; respectively scheduling the mobile robots in the divided blocks to execute path planning operation according to the determined window time, wherein the path planning operation comprises the following steps: and allocating a node area adjacent to the current position of the mobile robot according to the current position and the planned path of the mobile robot, wherein the mobile robot is configured to only pass through the allocated node area. Therefore, balance is found between space resources and collision avoidance, the probability of collision of the congested block is reduced, and the real-time performance is high.
Description
Technical Field
The invention relates to the field of robots, in particular to a path planning method and system for a multi-mobile robot.
Background
The technical scheme is that a plurality of mobile robots are arranged in a dense area (such as a logistics warehouse area), and the mobile robots are used for completing tasks such as carrying goods to replace manual labor, and the research focus in the field of the internet of things is the present.
In order to avoid collision between a plurality of mobile robots in a dense area during work, the following two different processing schemes are generally adopted: firstly, the robot has good conflict resolution capability through the current local environment information of the robot; secondly, the method is centralized management type conflict resolution, and conflicts are eliminated mainly by segmenting the motion path of the robot.
However, the inventor of the present application found in the practice of the present application that at least the following disadvantages exist in the above prior art: firstly, although the distributed method is simple in operation and strong in real-time performance and flexibility, due to the fact that local poles appear, tasks cannot be completed completely; secondly, the centralized management method can accurately execute tasks, but can easily cause robot operation path conflict, an optimal solution is usually searched, but the calculation amount is large, a large amount of resources of a server are occupied, the real-time performance is poor, the characteristics of the environment where vehicles are located are not always considered in the calculation process, and balance between space resources and conflict avoidance cannot be found. For this reason, the industry still cannot provide a better solution.
Disclosure of Invention
The embodiment of the invention aims to provide a path planning method and a path planning system for multiple mobile robots, which are used for at least solving the technical problems that in the prior art, a centralized management mode cannot give consideration to the characteristics of the environment where a vehicle is located, and balance cannot be found between space resources and conflict avoidance.
In order to achieve the above object, an embodiment of the present invention provides a path planning method for a multi-mobile robot, including: acquiring current positions and planned paths of a plurality of mobile robots, wherein the planned paths can bypass obstacles in a predetermined area, and the predetermined area comprises a plurality of node areas; determining a degree of dense distribution with respect to the mobile robots in a plurality of divided blocks in the predetermined area based on current positions of the plurality of mobile robots; determining the window time of each of the plurality of partition blocks according to the dense distribution degree, wherein the length of the window time and the dense distribution degree are in a negative correlation relationship; according to the determined window time, respectively scheduling the mobile robots in the corresponding divided blocks to execute path planning operation, wherein the path planning operation comprises the following steps: and allocating a node area adjacent to the current position where the mobile robot is located to the mobile robot according to the current position of the mobile robot and the planned path, wherein the mobile robot is configured to only pass through the allocated node area.
Preferably, the method further comprises: periodically acquiring current positions of a plurality of mobile robots based on a predetermined time interval; periodically re-determining the dense distribution degree with respect to the mobile robot in the plurality of divided blocks according to the current position acquired periodically; periodically updating the window time of each of the plurality of divided blocks based on the periodically re-determined degree of dense distribution, respectively.
Optionally, after the allocating, according to the current position of the mobile robot and the planned path, a node area adjacent to the current position where the mobile robot is located to the mobile robot, the method further includes: judging whether node areas allocated to different mobile robots coincide or not; and when the second node area allocated to the second mobile robot is overlapped with the node area allocated to the first mobile robot, marking the overlapped node area as a conflict node area in a conflict state, and determining that a planning path conflict exists between the first mobile robot and the second mobile robot.
Optionally, after determining that there is a planned path conflict between the first mobile robot and the second mobile robot, the method further includes: controlling the second mobile robot to pause running and moving, and controlling the first mobile robot to continue running and moving according to the corresponding planned path; and reassigning the conflict node area to the first mobile robot when it is detected that the first mobile robot has passed the conflict node area.
Specifically, the acquiring the current positions and the planned paths of the plurality of mobile robots includes: sending a scheduling command to each mobile robot, wherein the scheduling command comprises target node area information of each mobile robot; receiving planned paths from the plurality of mobile robots in response to the scheduling command, wherein the planned paths are determined for each of the mobile robots based on respective target node area information and calculated by an a-x algorithm.
Another aspect of the embodiments of the present invention provides a path planning system for multiple mobile robots, including: an initial information acquisition unit configured to acquire a current position and a planned path of each of a plurality of mobile robots, wherein the planned path can bypass an obstacle in a predetermined area, and the predetermined area includes a plurality of node areas; a dense distribution determination unit for determining a dense distribution degree with respect to the mobile robots in the plurality of divided blocks in the predetermined area based on current positions of the plurality of mobile robots; the window time determining unit is used for determining the window time of each of the plurality of partition blocks according to the intensive distribution degree, wherein the length of the window time and the intensive distribution degree are in a negative correlation relationship; a path planning unit, configured to respectively schedule the mobile robots in the corresponding divided blocks to perform a path planning operation according to the determined window time, including: and allocating a node area adjacent to the current position where the mobile robot is located to the mobile robot according to the current position of the mobile robot and the planned path, wherein the mobile robot is configured to only pass through the allocated node area.
Optionally, the system further includes: a position updating unit for periodically acquiring current positions of the plurality of mobile robots based on a predetermined time interval; a dense distribution degree updating unit configured to periodically re-determine the dense distribution degree regarding the mobile robot in the plurality of divided blocks according to the current position periodically acquired; a window time updating unit for periodically updating the window time of each of the plurality of divided blocks based on the density distribution degree periodically redetermined.
Optionally, the system further includes: a coincidence determination unit configured to determine whether there is a coincidence of node areas allocated to different mobile robots; and the conflict determination unit is used for marking the node area with the coincidence as a conflict node area in a conflict state when the second node area allocated to the second mobile robot is coincident with the node area allocated to the first mobile robot, and determining that a planning path conflict exists between the first mobile robot and the second mobile robot.
Optionally, the system further includes: the stopping control unit is used for controlling the second mobile robot to pause running and moving and controlling the first mobile robot to continue running and moving according to the corresponding planned path; and a reassignment unit for reassigning the collision node area to the first mobile robot when it is detected that the first mobile robot has passed the collision node area.
Optionally, the initial information obtaining unit includes: the dispatching command sending module is used for sending dispatching commands to the mobile robots, wherein the dispatching commands comprise target node area information of the mobile robots; and the planned path receiving module is used for responding to the scheduling command and receiving planned paths from the plurality of mobile robots, wherein the planned paths are determined by the mobile robots according to the information of the respective target node areas and through A-algorithm calculation.
By the technical scheme, the current position and the planned path of the mobile robot are obtained, and according to the respective current positions and the planned paths of the mobile robots, and the window time of each partition block is preset before the mobile robot moves, so that the shorter window time is allocated in the blocks with large dense distribution degree, the longer window time is allocated in the blocks with small dense distribution degree, therefore, the window time is calculated in a differentiated mode according to the intensive distribution degree of the mobile robots, system resources are distributed reasonably, the method and the device find balance between space resources and collision avoidance, can save CPU consumption of the server while guaranteeing the response time of the server, can use most of CPU resources in the congestion block in the preset area, improve the path calculation efficiency of the congestion block to the maximum extent, and reduce the probability of collision of the congestion block. In addition, the embodiment of the invention realizes the management of the distribution and the conflict of the paths by the distribution of the nodes, realizes the low consumption of processor resources and has stronger real-time performance.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is an example of a map of a dense area implementing a path planning method for a multi-mobile robot according to an embodiment of the present invention;
fig. 2 is a flowchart of a path planning method for a multi-mobile robot according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for obtaining a planned path of a mobile robot according to an embodiment of the invention;
FIG. 4 is an example of a node distribution table for a predetermined area in one embodiment of the invention;
fig. 5 is an example in which a map about a predetermined area is divided into a plurality of divided blocks according to an embodiment of the present invention;
FIG. 6 is an example of node assignments;
FIG. 7 is an example of a node resource table that is global with respect to a predetermined area;
fig. 8 is a flowchart of a path planning method of a multi-mobile robot according to another embodiment of the present invention;
fig. 9 is a block diagram showing a configuration of a path planning system for a mobile robot according to an embodiment of the present invention.
Description of the reference numerals
Obstacles of A1, A0 and A, B mobile robots B1 and B2
N1 and N2 node 902 dense distribution determination unit
901 initial information acquisition unit 903 window time determination unit
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1, a map of a dense area in which a path planning method for multiple mobile robots according to an embodiment of the present invention is implemented is marked with a plurality of obstacles B1, B2, and the like, a plurality of mobile robots a0, a1, and the like, and a plurality of node areas N1, N2, and the like. The dense area may be predetermined as needed, for example, it may refer to an area in a warehouse, the plurality of mobile robots a0, a1 may refer to a plurality of logistics robots, and the transfer of goods may be achieved by the operation movement of the mobile robots a0, a1, but a collision may be caused when the plurality of logistics robots operate simultaneously. Wherein the sizes of the different node areas N1, N2 may be equal, which may be formed by dividing the map of the dense area in equal scale. It should be noted that the path planning method according to the embodiment of the present invention may be executed by a server that centrally manages the plurality of mobile robots.
As shown in fig. 2, a path planning method for a multi-mobile robot according to an embodiment of the present invention includes:
s201, obtaining the current position and the planned path of each of the plurality of mobile robots, wherein the planned path can bypass obstacles in a predetermined area, and the predetermined area comprises a plurality of node areas.
Specifically, the planned path may be obtained by autonomous determination of the mobile robot and uploading the determined path to the server, or may be obtained by calculation by the server, and the above are all within the scope of the present invention.
Referring to fig. 3, a preferred embodiment of an acquisition method for a planned path is shown, where the mobile robot may be an AGV (Automated Guided Vehicle), and the acquisition method includes: s301, the server may send a scheduling command to each mobile robot, where the scheduling command includes target node area information of each mobile robot. S302, after each mobile robot receives the respective scheduling command, it calculates the respective corresponding planned path according to the respective target node area information and through an a-algorithm. And S303, each mobile robot sends the calculated planning path to a server. After the server acquires the planned paths sent by the mobile robots, corresponding subsequent processing is executed to ensure that no path conflict occurs in the process of executing the planned paths by the mobile robots. As an example, there may be a plurality of node areas (e.g., node areas 0 and 1 … 99 in the node distribution table about the dense area shown in fig. 4) on the map, each of which has a unique node ID, and the mobile robot a0 needs to reach the destination node area 31 from the node area 73 at the current location after receiving the scheduling command, at which time the mobile robot a0 calculates the shortest path to the destination node area 31 through the a × algorithm, thereby ensuring that the mobile robot a0 can quickly reach the destination node area. However, the calculation at this time does not take into account the operation movement of other mobile robots in the current space, such as a1, which also only takes into account static obstacle nodes, and during the operation movement of the mobile robot a0, other mobile robots in the space, such as a1, are obstacles relative to the mobile robot a0, so that anti-collision measures are required to avoid other mobile robots to prevent collision. Details regarding this conflict management measure will be developed below.
S202, based on the current positions of the plurality of mobile robots, determining the dense distribution degree of the mobile robots in the plurality of partitioned blocks in the preset area.
The dividing manner for the predetermined area (i.e. the dense area) should not be limited herein, and may be divided according to the terrain or according to the user's requirement, and the like, and all fall within the protection scope of the present invention. Illustratively, the predetermined area as shown in fig. 5 is divided into three divided blocks (as noted by different shades of color). Specifically, the degree of dense distribution may be determined by calculating a ratio of the number of mobile robots within the divided block to the area of the divided block, and in the example shown in fig. 5, may also be determined according to a ratio of the number of mobile robots within the divided block to the number of nodes within the divided block. Specifically, in the example shown in fig. 5, the deeper the color label, the more densely distributed the division block corresponds to.
S203, determining the window time of each of the plurality of divided blocks according to the dense distribution degree, wherein the length of the window time and the dense distribution degree are in a negative correlation relationship.
Accordingly, in fig. 5, the server may divide the window time longer for the division blocks with deeper color labels.
S204, respectively scheduling the mobile robots in the corresponding divided blocks to execute path planning operation according to the determined window time, wherein the path planning operation comprises the following steps: and allocating a node area adjacent to the current position of the mobile robot according to the current position and the planned path of the mobile robot, wherein the mobile robot is configured to only pass through the allocated node area.
The node area allocation is performed according to the planned path. In addition, before the robot a0 intends to travel from node No. 73 to node No. 63 according to the planned path at time 0, node No. 63 may be previously allocated to the robot a 0. Preferably, the first mobile robot a may allocate a plurality of node areas for the next step to pass through according to the needs of the mobile robot (for example, when the speed of the mobile robot is fast), as shown in fig. 6, may allocate node areas No. 24 and No. 25 to the mobile robot a and allocate node areas No. 146 and No. 147 to the mobile robot B according to the operation path of the robot, and the above all fall within the protection scope of the present invention.
The allocation of the node resources in the predetermined area may be wholly implemented in a node resource table, as shown in fig. 7, which illustrates an example of the node resource table, in the node resource table global to the predetermined area, the occupation and allocation of each node resource by each robot is counted, including the node area ID now occupied by the robot and the node area ID allocated to the robot. In addition, the node resource table is updated along with the change of time, in order to prevent resource conflict between mobile robots, one node resource can be occupied by only one mobile robot, that is, the same node area cannot correspond to two mobile robots in the node resource table at the same time, and the same mobile robot can correspond to a plurality of node areas at the same time.
With regard to the configuration of the mobile robot, it may be that the mobile robot performs a movement only when receiving an instruction on the next assigned node area from the server, even though it may have autonomously planned a travel path.
The term "window time" means the time period during which an event or thing can be processed or reacted; since it is not necessary to perform calculation every moment when the server allocates resources to a plurality of robots, which leads to large resource consumption, it is necessary to set a window time. The window time in an embodiment of the present invention may be a period representing an interval calculated by the server for the mobile robot. For example, if the window time allocated by the server to the mobile robot a1 is 3, the server may calculate the window time in the 2 nd time unit and the 5 th time unit for the mobile robot a1, respectively, so as to save resource consumption. In the embodiment of the invention, longer window time is distributed in the partitioned blocks with small dense distribution degree, namely the partitioned blocks with sparser distribution of the mobile robot; and distributing shorter window time in the division blocks with large dense distribution degree, namely distributing the division blocks with relatively dense distribution by the mobile robot. Therefore, the window time with the same length is not given to all the mobile robots, the system resources are calculated differently according to the intensive distribution degree of the mobile robots, the CPU consumption of the server can be saved while the response time of the server is guaranteed, most of the CPU resources can be used in the congestion blocks in the preset area, the path calculation efficiency of the congestion blocks is improved to the maximum extent, and the probability of collision is reduced.
In addition, since the dense distribution degree in the predetermined area is in a changed state during the moving tasks performed by the plurality of mobile robots, it is necessary to periodically update the dense distribution degree and further adjust the window time accordingly. In view of this, in a preferred implementation manner of the embodiment of the present invention, the current positions of the plurality of mobile robots are periodically acquired based on a predetermined time interval, the dense distribution degree of the plurality of divided blocks with respect to the mobile robots is periodically re-determined according to the periodically acquired current positions, and then the window times of the plurality of divided blocks are periodically updated according to the periodically re-determined dense distribution degree.
As shown in fig. 8, a method for planning a path of a multi-mobile robot according to an embodiment of the present invention includes:
s801, obtaining the current position and the planned path of each of the mobile robots, wherein the planned path can bypass obstacles in a predetermined area, and the predetermined area comprises a plurality of node areas.
S802, based on the current positions of the plurality of mobile robots, the dense distribution degree of the mobile robots in the plurality of partitioned blocks in the preset area is determined.
And S803, determining the window time of each of the plurality of divided blocks according to the dense distribution degree, wherein the length of the window time and the size of the dense distribution degree form a negative correlation relationship.
S804, respectively scheduling the mobile robots in the corresponding divided blocks to execute path planning operation according to the determined window time, wherein the path planning operation comprises the following steps: and allocating a node area adjacent to the current position of the mobile robot according to the current position and the planned path of the mobile robot, wherein the mobile robot is configured to only pass through the allocated node area.
For more specific details of S801-S804, reference may be made to the description of the above embodiments, which are not repeated herein.
S805, judging whether node areas allocated to different mobile robots coincide or not; and
and S806, when the second node area allocated to the second mobile robot is overlapped with the node area allocated to the first mobile robot, marking the overlapped node area as a conflict node area in a conflict state, and determining that a planning path conflict exists between the first mobile robot and the second mobile robot.
The embodiment shown in fig. 8 can be regarded as a preferred embodiment of the embodiment shown in fig. 2, and mainly, fig. 2 can customize and allocate computing resources through the configuration of the length of the window time, so that the mobile robot of the congested block obtains higher computing efficiency and avoids collision, but the mobile robot cannot be involved in detecting the collision state. In view of this, the implementation of S805 and S806 may implement detection of node resource allocation, and avoid that the same node area is allocated to two mobile robots at the same time. As an example, in one case, if the node resource region allocated for the first mobile robot a is node region No. 10, and the node resource region allocated for the second mobile robot B is also node region No. 10; or, in another case, if the node resource area allocated to the first mobile robot a includes node areas No. 10 and No. 11, and the node area allocated to the second mobile robot B includes node area No. 9 and node area No. 10, it indicates that there is a coincident node area No. 10 between the first mobile robot a and the second mobile robot B, and accordingly marks that node No. 10 as a conflicting node area in a conflicting state. Accordingly, it may be determined that a planned path conflict exists between the first mobile robot a and the second mobile robot B, and at this time, a corresponding conflict management measure should be taken, specifically, a conflict notification signal may be generated when a conflict node area exists, and the conflict notification signal is sent to the operation and maintenance terminal to remind the operation and maintenance staff to handle and resolve the mobile robot conflict, and the like.
More preferably, when it is detected that the first mobile robot a or the second mobile robot B has passed through the No. 10 collision node area, the server may convert the collision node area from the collision state to an allocable state again, for example, the collision node area may be distinguished from the allocable node area by different identifiers (by labeling the node color or form, etc.), thereby realizing the reallocation work after the collision nodes are restored to normal, ensuring that normal node resources can be recycled by the mobile robots, and improving the utilization efficiency of the dense area. Specifically, after it is determined that a planned path conflict exists between the first mobile robot and the second mobile robot, the server may control the second mobile robot to suspend operation and movement, and control the first mobile robot to continue to operate and move according to the planned path corresponding to the first mobile robot; and reassigning the conflict node area to the first mobile robot when it is detected that the first mobile robot has passed the conflict node area. Therefore, through the allocation of node resources, one mobile robot firstly passes through the conflict node area, and then the other mobile robot passes through the node area, so that the problem of node allocation conflict is effectively solved, and the probability of conflict and collision of multiple mobile robots in the operation process is reduced.
As shown in fig. 9, a path planning system 90 for a multi-mobile robot according to an embodiment of the present invention includes: an initial information obtaining unit 901 configured to obtain current positions and planned paths of each of a plurality of mobile robots, where the planned paths can bypass obstacles in a predetermined area, and the predetermined area includes a plurality of node areas; a dense distribution determining unit 902 for determining a dense distribution degree with respect to the mobile robots in the plurality of divided blocks in the predetermined area based on the current positions of the plurality of mobile robots; a window time determining unit 903, configured to determine, according to the dense distribution degree, a window time of each of the plurality of partition blocks, where a negative correlation exists between a length of the window time and a magnitude of the dense distribution degree; a path planning unit 904, configured to respectively schedule the mobile robots in the corresponding divided blocks to perform a path planning operation according to the determined window time, where the path planning unit 904 includes: and allocating a node area adjacent to the current position where the mobile robot is located to the mobile robot according to the current position of the mobile robot and the planned path, wherein the mobile robot is configured to only pass through the allocated node area.
In some embodiments, the system further comprises: a position updating unit for periodically acquiring current positions of the plurality of mobile robots based on a predetermined time interval; a dense distribution degree updating unit configured to periodically re-determine the dense distribution degree regarding the mobile robot in the plurality of divided blocks according to the current position periodically acquired; a window time updating unit for periodically updating the window time of each of the plurality of divided blocks based on the density distribution degree periodically redetermined.
In some embodiments, the system further comprises: a coincidence determination unit configured to determine whether there is a coincidence of node areas allocated to different mobile robots; and the conflict determination unit is used for marking the node area with the coincidence as a conflict node area in a conflict state when the second node area allocated to the second mobile robot is coincident with the node area allocated to the first mobile robot, and determining that a planning path conflict exists between the first mobile robot and the second mobile robot.
In some embodiments, the system further comprises: the stopping control unit is used for controlling the second mobile robot to pause running and moving and controlling the first mobile robot to continue running and moving according to the corresponding planned path; and a reassignment unit for reassigning the collision node area to the first mobile robot when it is detected that the first mobile robot has passed the collision node area.
In some embodiments, the initial information acquisition unit includes: the dispatching command sending module is used for sending dispatching commands to the mobile robots, wherein the dispatching commands comprise target node area information of the mobile robots; and the planned path receiving module is used for responding to the scheduling command and receiving planned paths from the plurality of mobile robots, wherein the planned paths are determined by the mobile robots according to the information of the respective target node areas and through A-algorithm calculation.
It should be noted that the path planning system for multiple mobile robots provided in the embodiment of the present invention may be built on a server for centrally managing multiple mobile robots, and each unit and module described above may refer to a program module or a unit. For more details and corresponding technical effects of the system according to the embodiment of the present invention, reference may be made to the description of the method embodiment above, and further description is omitted here.
The system of the embodiment of the present invention may be used to execute the corresponding method embodiment of the present invention, and accordingly achieve the technical effects achieved by the method embodiment of the present invention, which are not described herein again.
In the embodiment of the present invention, the relevant functional module may be implemented by a hardware processor (hardware processor).
In another aspect, an embodiment of the present invention provides a storage medium having a computer program stored thereon, where the computer program is executed by a processor to perform the steps of the path planning method for a multi-mobile robot as performed by the server.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (10)
1. A path planning method for a multi-mobile robot comprises the following steps:
acquiring current positions and planned paths of a plurality of mobile robots, wherein the planned paths can bypass obstacles in a predetermined area, and the predetermined area comprises a plurality of node areas;
determining a degree of dense distribution with respect to the mobile robots in a plurality of divided blocks in the predetermined area based on current positions of the plurality of mobile robots;
determining the window time of each of the plurality of divided blocks according to the dense distribution degree, wherein the length of the window time and the dense distribution degree are in a negative correlation relationship, and the window time represents the interval calculation period of each mobile robot in the corresponding divided block by the server;
according to the determined window time, respectively scheduling the mobile robots in the corresponding divided blocks to execute path planning operation, wherein the path planning operation comprises the following steps:
and allocating a node area adjacent to the current position where the mobile robot is located to the mobile robot according to the current position of the mobile robot and the planned path, wherein the mobile robot is configured to only pass through the allocated node area.
2. The method of claim 1, further comprising:
periodically acquiring current positions of a plurality of mobile robots based on a predetermined time interval;
periodically re-determining the dense distribution degree with respect to the mobile robot in the plurality of divided blocks according to the current position acquired periodically;
periodically updating the window time of each of the plurality of divided blocks based on the periodically re-determined degree of dense distribution, respectively.
3. The method of claim 1, wherein after said assigning a mobile robot a node area adjacent to said current location at which it is located based on its current location and said planned path, the method further comprises:
judging whether node areas allocated to different mobile robots coincide or not; and
when the second node area allocated to the second mobile robot is overlapped with the node area allocated to the first mobile robot, marking the overlapped node area as a conflict node area in a conflict state, and determining that a planning path conflict exists between the first mobile robot and the second mobile robot.
4. The method of claim 3, wherein after the determining that there is a planned path conflict between the first mobile robot and the second mobile robot, the method further comprises:
controlling the second mobile robot to pause running and moving, and controlling the first mobile robot to continue running and moving according to the corresponding planned path; and
reassigning the conflict node area to the first mobile robot when it is detected that the first mobile robot has passed the conflict node area.
5. The method of claim 1, wherein the obtaining the current position and the planned path for each of the plurality of mobile robots comprises:
sending a scheduling command to each mobile robot, wherein the scheduling command comprises target node area information of each mobile robot;
receiving planned paths from the plurality of mobile robots in response to the scheduling command, wherein the planned paths are determined for each of the mobile robots based on respective target node area information and calculated by an a-x algorithm.
6. A path planning system for a multi-mobile robot, comprising:
an initial information acquisition unit configured to acquire a current position and a planned path of each of a plurality of mobile robots, wherein the planned path can bypass an obstacle in a predetermined area, and the predetermined area includes a plurality of node areas;
a dense distribution determination unit for determining a dense distribution degree with respect to the mobile robots in the plurality of divided blocks in the predetermined area based on current positions of the plurality of mobile robots;
a window time determining unit, configured to determine a window time of each of the plurality of divided blocks according to the dense distribution degree, where a length of the window time and a magnitude of the dense distribution degree are in a negative correlation relationship, and the window time represents a period calculated by the server for each mobile robot in the corresponding divided block at intervals;
a path planning unit, configured to respectively schedule the mobile robots in the corresponding divided blocks to perform a path planning operation according to the determined window time, including: and allocating a node area adjacent to the current position where the mobile robot is located to the mobile robot according to the current position of the mobile robot and the planned path, wherein the mobile robot is configured to only pass through the allocated node area.
7. The system of claim 6, further comprising:
a position updating unit for periodically acquiring current positions of the plurality of mobile robots based on a predetermined time interval;
a dense distribution degree updating unit configured to periodically re-determine the dense distribution degree regarding the mobile robot in the plurality of divided blocks according to the current position periodically acquired;
a window time updating unit for periodically updating the window time of each of the plurality of divided blocks based on the density distribution degree periodically redetermined.
8. The system of claim 6, further comprising:
a coincidence determination unit configured to determine whether there is a coincidence of node areas allocated to different mobile robots;
and the conflict determination unit is used for marking the node area with the coincidence as a conflict node area in a conflict state when the second node area allocated to the second mobile robot is coincident with the node area allocated to the first mobile robot, and determining that a planning path conflict exists between the first mobile robot and the second mobile robot.
9. The system of claim 8, further comprising:
the stopping control unit is used for controlling the second mobile robot to pause running and moving and controlling the first mobile robot to continue running and moving according to the corresponding planned path; and
a reassignment unit for reassigning the conflict node area to the first mobile robot when it is detected that the first mobile robot has passed the conflict node area.
10. The system according to claim 6, wherein the initial information obtaining unit includes:
the dispatching command sending module is used for sending dispatching commands to the mobile robots, wherein the dispatching commands comprise target node area information of the mobile robots;
and the planned path receiving module is used for responding to the scheduling command and receiving planned paths from the plurality of mobile robots, wherein the planned paths are determined by the mobile robots according to the information of the respective target node areas and through A-algorithm calculation.
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| CN201810053972.5A CN107992060B (en) | 2018-01-19 | 2018-01-19 | Path planning method and system for multiple mobile robots |
| PCT/CN2019/072270 WO2019141227A1 (en) | 2018-01-19 | 2019-01-18 | Method and system for planning routes of plurality of moving robots |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810053972.5A CN107992060B (en) | 2018-01-19 | 2018-01-19 | Path planning method and system for multiple mobile robots |
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| DK3570134T3 (en) * | 2018-05-18 | 2021-09-20 | Mobile Ind Robots A/S | SYSTEM FOR EVACUATION OF ONE OR MORE MOBILE ROBOTS |
| CN108420371B (en) * | 2018-06-21 | 2021-10-12 | 山东鹏耀智佳精密工业有限公司 | Control method of separated type floor sweeping robot |
| US11199840B2 (en) * | 2018-07-03 | 2021-12-14 | Panasonic Intellectual Property Management Co., Ltd. | Mover control system, mover system, mover control method, and non-transitory storage medium |
| CN109304712A (en) * | 2018-11-09 | 2019-02-05 | 浙江国自机器人技术有限公司 | A kind of mobile robot traffic control method and mobile-robot system |
| CN111493749B (en) * | 2019-01-31 | 2023-10-03 | 北京奇虎科技有限公司 | Sweeping method and device based on sweeping robot, electronic equipment and storage medium |
| CN112578739B (en) * | 2019-09-29 | 2022-03-29 | 杭州海康机器人技术有限公司 | Scheduling method for mobile robot, scheduling server and storage medium |
| CN111784249A (en) * | 2020-07-03 | 2020-10-16 | 上海木木聚枞机器人科技有限公司 | Method for locking and unlocking scheduling driving state, server and storage medium |
| CN111832678B (en) * | 2020-07-17 | 2022-04-19 | 中国科学技术大学 | Sorting robot scheduling method and device, sorting robot and storage medium |
| CN112799411B (en) * | 2021-04-12 | 2021-07-30 | 北京三快在线科技有限公司 | Control method and device of unmanned equipment |
| CN113253736B (en) * | 2021-06-17 | 2021-11-09 | 上海思岚科技有限公司 | Multi-robot scheduling method and equipment |
| CN113534803B (en) * | 2021-07-15 | 2024-06-21 | 北京京东振世信息技术有限公司 | Motion path determining method and device, electronic equipment and storage medium |
| CN114401488B (en) * | 2021-12-03 | 2024-05-28 | 杭州华橙软件技术有限公司 | Robot motion path reporting method, robot motion path downloading method, robot motion path reporting device and electronic device |
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| CN118129763B (en) * | 2024-05-07 | 2024-07-23 | 浙江大学 | Multi-robot path planning method based on conflict search under uncertain time |
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