Research On Key Technologies Of Multi-mobile Robot Planning And Dispatching

More and more multi-mobile robot systems(MMRS)are used in industries such as intelligent manufacturing and intelligent logistics.However,the diversification and complexity of the scenarios bring challenges to the stability and efficiency of the systems.First,the environment needs to be expressed dynamically and universally so that the system can be applied to various complex scenarios.Furthermore,heterogeneous robots and variable-sized robots bring challenges to the planning and dispatching of multi-mobile robots.Therefore,the research on planning and dispatching technologies such as motion planning,path planning,and charging dispatching under the dynamic environment model is of great significance.Focusing on the key planning and dispatching technologies of MMRS,the works and conclusions drawn in this paper are as follows:(1)Based on the roadmap,this paper proposes the concept of glued nodes,and studies its properties and calculation methods.Based on the real-time data of the mobile robots,such as paths and sizes,the system dynamically calculates whether two nodes are glued nodes without dividing the map into disjoint zones.This enables the conflict of space resources to be directly calculated based on the roadmap and real-time data of mobile robots,which not only increases the universality of the method but also improves the space utilization.The concept of glued nodes provides the basis for subsequent research on motion planning.(2)This paper proposes a hybrid interaction framework of “application and reservation” to realize the allocation of nodes among moblie robots.At the same time,a collision avoidance algorithm for working robots and a give way algorithm for idle robots are proposed based on glued nodes and the hybrid interaction framework.It can not only ensure that there is no collision among all robots,but also avoid idle robots blocking working robots for a long time.(3)This paper studies the deadlock problem in MMRS,and analyzes the causes,principles and properties of direct deadlock and impending deadlock.Based on glued nodes,this paper proposes methods to detect and avoid direct deadlocks and impending deadlocks.The experimental results show that the deadlock cannot be avoided only by avoiding direct deadlock in many scenarios.The collision and deadlock avoidance algorithm based on glued nodes has obvious advantages Absct Abstract compared with other methods based on zone control.(4)This paper designs a path planning algorithm considering path smoothing,traffic congestion and deadlock avoidance,and studies the impact of different factors on path planning.This paper analyzes and studies those inevitable deadlocks,and proposes a deadlock unlocking algorithm by modifying the path of some robot.Deadlock unlocking,deadlock detection and deadlock avoidance constitute a complete deadlock processing system in MMRS.(5)This paper studies the charging dispatching problem in MMRS,and designs a multi-threshold hierarchical charging strategy to solve the problem of “when to charge”.This paper also proposes the selection strategy and competitive strategy of charging stations to solve the problem of “where to charge”.Combined with task allocation,a charging scheduling algorithm is designed.The algorithm designed in this paper has been applied to many real projects including intelligent warehousing,intelligent manufacturing,and automated terminals.All experiments are simulated based on real industrial project scenarios,which further verifies the effectiveness and application value of the methods proposed in this paper.