Path Generation Method for Collision Avoidance Among Multiple Mobile Robots

Collision Avoidance Technology for Multiple Mobile Robots via Priority-Based Path Recalculation

This technology generates paths for multiple mobile robots based on driving priority. When a collision is predicted during operation, it recalculates the path of the lower-priority robot to prevent deadlocks in dynamic environments and maintain optimal routing.

Existing decentralized path planning methods typically address collisions or deadlocks by modifying paths or simply adjusting speed, which often fails to effectively manage mutual path interference or resolve persistent deadlocks.

This technology establishes driving priority by integrating initial priority, path cost, and mission importance. When a collision is predicted, it recalculates the path of the lower-priority robot by accounting for node and edge occupancy time. Applicable to multi-robot operations in logistics warehouses and smart factories, it fundamentally prevents line stoppages caused by deadlocks and maximizes overall throughput.

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Key Features:

• Registering the navigation map of the space where multiple mobile robots operate into the system
• Registering the initial priority, starting point, and destination for each mobile robot
• Generating paths for each robot sequentially based on their initial priority
• Recalculating the path of the lower-priority robot by considering occupancy time information when a collision is predicted