基于Petri网的多机器人协作任务分配与导航研究

Research on tasks assignment and navigation of multiple mobile robots based on Petri net

研究了基于Petri网理论的多移动机器人任务分配和导航策略问题.针对有限空间环境下的物料收集协作任务,提出了一种机器人路径选择方法,并建立了基本路口单元和工作空间的Petri网模型.通过任务分配模型实时规划物料仓库内的机器人,并对具有拐角特征的多机器人路径冲突给出了消解方法,建立了机器人冲突协调模型.通过分析任务冲突协调模型,避免了多机器人运动路径冲突.最后仿真实验验证了提出的多机器人任务规划方法的有效性.

The task assignment and navigation method of multiple mobile robots based on Petri net theory are investigated. A robot routing method is presented for the task of materials collection in a constraint space. Also, the Petri net models for path crossing and the whole workshop circumstance are constructed. So the robots in storehouse are scheduled real-time by task assignment model, and the collision among robots in the corner can be avoided. The collision avoidance models of task are constructed and analyzed. Simulation verification is realized for the presented tasks scheduling method of multi-robot system.