Multi-robot path planning method based on time window

• Main Authors: QIAO HUI, GAO ENYING, XU JIANGFAN
• Format: Patent
• Language: Chinese; English
• Published: 08.06.2016
• Subjects: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION ORPROCESSING OF GOODS; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS; TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINSTCLIMATE CHANGE

The invention relates to a multi-robot path planning method based on a time window. According to the method provided by the invention, a feasible path of a new robot is planed through a point time window and an edge time window of a node occupied by an existing robot; and when the time window of the robot is disturbed, a path of each robot is dynamically re-planned, so that the conflict of a plurality of robots in a system can be avoided. According to the multi-robot path planning method provided by the invention, a plurality of times of iteration are not needed, and the possibility is only calculated on a limited path set; and the relative calculated quantity is relatively small so that the multi-robot path planning method is more suitable for being applied to a real dispatching scene. 本发明涉及种基于时间窗的多机器人路径规划方法，该方法通过已有机器人占用节点的点时间窗和边时间窗，规划新机器人的可行路径，并且在机器人时间窗被打乱时，重新动态规划各个机器人的路径，从而可以避免系统内多机器人的冲突。本发明的多机器人路径规划方法不需要多次迭代，只是在有限的路径集上计算可能性，相对计算量比较小，更适合真实的调度场景应用。