Research On State-sharing-based Hybrid Scheduling System For Parking Robot

In recent years,with the rapid development of China's auto industry,the mismatch between the growth of car ownership and the construction of parking facilities has caused a rapid increase in the gap between the supply and demand of parking spaces.Parking has become a common social problem faced by large and medium-sized cities.The application of an intelligent parking robot system to increase the capacity of existing garages is an effective way to alleviate the current shortage of parking spaces.The scheduling of parking robot system is the soul of intelligent garage operation,which determines the parking capacity and the efficiency of outbound and outbound garage parking.It is a difficult and important point in the construction of intelligent parking garage,and it is also a hot spot of current research and development.This thesis makes an in-depth research on the status quo of domestic and foreign research on smart parking robot technology and scheduling methods at home and abroad.According to the needs of intelligent garages,a novel framework of state-sharing-based hybrid parking robot scheduling system is proposed.The framework divides the scheduling system into application layer,planning and decision layer,coordination layer and robot layer.The framework combines distributed frameworks.The advantage of the centralized framework is that it is highly scalable while meeting the efficient coordinated scheduling of multi-parking robots.Based on the framework,the positioning scheme for the robot layer of the dispatching system was designed and a parking robot control system was set up.The core of the scheduling system scheduling-the algorithm module of the planning and decision layer is designed,and the robot state display module is developed.Finally,the user interaction implementation scheme of the application layer and the communication scheme of the scheduling system are designed.Aiming at the functional requirements of the dispatching algorithm module of the dispatching system,the task assignment algorithm based on dynamic multi-objective,the improved path planning algorithm based on cooperation and the coordination scheduling algorithm of multi-robot are proposed.The task assignment algorithm achieves resource allocation and minimum costtask allocation under dynamic multitasking.The multi-robot path path planning algorithm realizes the robot with lower priority to actively evade the robot with higher priority;the coordination scheduling algorithm of multi-robot guarantees The stable operation of multi-parking robots effectively avoids the path conflicts and deadlocks between multiple robots.Based on OPENTCS,the multi-robot parking task simulation platform was developed,and the scheduling system framework and scheduling algorithm were verified by simulation.In the existing parking lot environment,a parking robot scheduling system platform was set up,and the multi-task scheduling of a single robot and two robots was experimentally tested.The experimental results demonstrate that the proposed parking robot scheduling system has reliability and efficiency.