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1. CN108334071 - Method for enabling multi-robot system to arrive at target position without any collision

Office China
Application Number 201711430953.1
Application Date 26.12.2017
Publication Number 108334071
Publication Date 27.07.2018
Publication Kind A
IPC
G05D 1/02
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
CPC
G05D 1/0231
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0231using optical position detecting means
G05D 1/0278
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0276using signals provided by a source external to the vehicle
0278using satellite positioning signals, e.g. GPS
G05D 1/0289
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0287involving a plurality of land vehicles, e.g. fleet or convoy travelling
0289with means for avoiding collisions between vehicles
Applicants INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES
中国科学院自动化研究所
Inventors YU YINGYING
于莹莹
PANG LEI
庞磊
CAO ZHIQIANG
曹志强
WU ZHIYONG
吴志勇
YU JUNZHI
喻俊志
ZHOU CHAO
周超
TAN MIN
谭民
Agents 北京瀚仁知识产权代理事务所(普通合伙) 11482
北京瀚仁知识产权代理事务所(普通合伙) 11482
Title
(EN) Method for enabling multi-robot system to arrive at target position without any collision
(ZH) 多机器人系统无碰撞到达目标位置的方法
Abstract
(EN)
The invention belongs to the technical field of robots, and particularly relates to a method for enabling a multi-robot system to arrive at a target position without any collision. The problem that according to the existing obstacle avoidance technology, a multi-robot system is difficult to well adapt to a complex environment is solved. The method for enabling the multi-robot system to arrive at the target position without any collision comprises the steps of by means of a robot in the multi-robot system, acquiring distance data provided by a laser sensor and the angle data of a direction corresponding to the distance data relative to the current movement direction of the robot; on the above basis, carrying out the maximum distance threshold value constraint treatment, the minimum distancethreshold value constraint treatment, the safety passage analysis treatment, the obstacle distance influence analysis treatment, the target position influence analysis treatment and the adjacent robot influence analysis treatment, and obtaining the movement direction of the next step; controlling the movement of the robot according to the movement direction of the next step, and finally enablingthe robot to arrive at the target position without any collision.

(ZH)
本发明属于机器人技术领域,具体涉及一种多机器人系统无碰撞到达目标位置的方法。旨在解决现有的避障技术使得多机器人系统难以很好的适应复杂环境的问题。本发明一种多机器人系统无碰撞到达目标位置的方法,包括多机器人系统中的机器人获取激光传感器提供的距离数据,以及距离数据所对应的方向相对于机器人的当前运动方向的角度数据,在此基础上,进行最大距离阈值约束和最小距离阈值约束处理、安全通行分析处理、障碍距离影响分析处理、目标位置影响分析处理以及邻近机器人影响分析处理,得到下一步的运动方向,根据下一步的运动方向控制机器人的运动,最终使得机器人无碰撞地到达自己的目标位置。