Method and System for Real-Time Motion Control of Multi-Robot Systems

Real-time Multi-Robot Navigation Control Technology Using Node-Passage Sequence Path Queues

This technology is a navigation control method and system that prevents node collisions by generating a path queue containing node-by-node passage sequences based on multi-robot path planning, and sequentially transmitting movement commands to each robot based on real-time location monitoring.

Even with pre-established path planning for multiple robots, collisions can occur due to movement errors during actual operation. Existing technologies require a full path re-search when a collision occurs, resulting in high computational costs and reduced efficiency.

This technology updates the path queue between each robot's current position and target node in real time, restricting the movement of robots at risk of collision by cross-referencing node occupancy sequences and identification information. It can be applied to multi-AGV operations in logistics warehouses and smart factories, maximizing throughput by avoiding collisions without the need for full path re-planning.

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Key Features:

• Transmitting control commands to each robot based on path plans generated in response to multi-robot movement requests
• Monitoring the environment of multiple robots moving according to the transmitted control commands for each robot
• A configuration that generates a path queue storing the sequence in which robots pass through nodes based on path planning
• A configuration that checks the path queue to move to the next target node based on each robot's current node

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This invention was developed with the support of the Ministry of Science and ICT for the development of task planning technology for individual robots and robot groups connected to the cloud.