Robot control apparatus

• US 20060265103A1
• Filed: 05/03/2006
• Published: 11/23/2006
• Est. Priority Date: 05/23/2005
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Orita, Atsuo
• Granted Patent: US 7,463,948 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A robot control apparatus allows a plurality of mobile robots to carry out tasks at a reduced or minimized cost as a whole with consideration given to costs derived from an encounter with an obstacle is provided. An action optimization controller provided in the robot control apparatus generates an instruction for optimizing actions of the plurality of mobile robots so that the plurality of mobile robots carry out the tasks at a minimized cost, based upon locomotion plan information indicative of locomotion plans of the plurality of mobile robots. A possibility that any robots have an encounter with an obstacle is determined by comparing distances from the robots to the obstacles. A locomotion plan implementation cost is calculated with consideration given to the possibility of encounter, and thus an optimum route is selected based upon the locomotion plan implementation cost with the encounter-derived cost. In accordance with the optimum route, the locomotion plan for the robot is modified.

Claims

1. A robot control apparatus for controlling a plurality of mobile robots each of which includes a position information acquisition device for acquiring an instantaneous position and is configured to carry out a predetermined task, the apparatus comprising:

a robot information storage device in which the instantaneous position acquired by the position information acquisition device of each mobile robot are storable;

a task information storage device in which task information is storable, the task information including an execution position and a priority for each task to be executed by a mobile robot responsible therefor; and

an action optimization controller configured to generate an instruction for optimizing actions of the plurality of mobile robots so that any of the plurality of mobile robots carry out the tasks at a minimized cost, based upon locomotion plan information indicative of locomotion plans of the plurality of mobile robots, each of the locomotion plans including a route along which each mobile robot moves from an instantaneous position of the mobile robot stored in the robot information storage device to an execution position of a task stored in the task information storage device, wherein the action optimization controller includes;

a locomotion plan explorer configured to sort the locomotion plans by costs for exploration;

a locomotion plan selector configured to select at least one locomotion plan from the locomotion plans sorted in the locomotion plan explorer;

a locomotion plan implementation cost calculator configured to calculate a locomotion plan implementation cost to be entailed when the plurality of mobile robots move in accordance with the locomotion plan information updated by the at least one locomotion plan selected in the locomotion plan selector;

a distance calculator configured to calculate distances from the plurality of mobile robots to obstacles for each point of time during implementation of the locomotion plans or for each position on routes along which the plurality of mobile robots move, in accordance with the locomotion plan information updated by the at least one locomotion plan selected in the locomotion plan selector;

an encounter possibility determiner configured to compare the distances calculated by the distance calculator with a predetermined value, and to determine that at least one of the plurality of mobile robots has a possibility of encounter with an obstacle if at least one of the distances is below the predetermined value;

an encounter-derived cost calculator configured to calculate an encounter-derived cost if the encounter possibility determiner determines that at least one of the plurality of mobile robots has a possibility of encounter with an obstacle;

an optimum route selector configured to determine optimum locomotion plan information such that the tasks are carried out at a minimized cost, based upon the locomotion plan implementation cost calculated by the locomotion plan implementation cost calculator and the encounter-derived cost calculated by the encounter-derived cost calculator; and

a plan modification instruction generator configured to generate a plan modification instruction for causing at least one of the plurality of mobile robots to move in accordance with the optimum locomotion plan information determined by the optimum route selector.

2. A robot control apparatus according to claim 1, wherein the obstacles include another mobile robot;

and

wherein the encounter-derived cost calculator comprises a temporary halt cost calculator configured to calculate a cost required for a temporary halt such that a first mobile robot responsible for a lower priority task waits at a temporary halt position on a planned route until a second mobile robot responsible for a higher priority task passes through a common portion of routes on which the first and second mobile robots are planned to move; and

wherein the plan modification instruction includes an instruction given to the first mobile robot to make a temporary halt at the temporary halt position if the sum of the cost calculated by the temporary halt cost calculator and a cost to be entailed when at least one locomotion plan for the at least one of the plurality of mobile robots determined by the encounter possibility determiner to have a possibility of encounter with an obstacle is implemented turns out to be the minimized cost.

3. A robot control apparatus according to claim 1, further comprising a circumvention controller which comprises:

a give-way motion instruction generator configured to generate a give-way motion instruction for causing a first mobile robot responsible for a lower priority task to move from a first route determined based upon the selected locomotion plan information to a give-way position so as to give way to a second mobile robot responsible for a higher priority task; and

a return instruction generator configured to generate a return instruction for causing the first mobile robot to return from the give-way position to the first route,

wherein the encounter-derived cost calculator comprises a circumvention cost calculator configured to calculate a difference between a cost to be entailed when the first mobile robot moves to the give-way position and a cost to be entailed when the first mobile robot proceeds along the first route without moving to the give-way position; and

wherein the plan modification instruction includes the give-way motion instruction and the return instruction given to the circumvention controller if the sum of the cost calculated by the circumvention cost calculator and a cost to be entailed when at least one locomotion plan for the at least one of the plurality of mobile robots determined by the encounter possibility determiner to have a possibility of encounter with an obstacle is implemented turns out to be the minimized cost.

4. A robot control apparatus according to claim 1, further comprising a circumvention controller which comprises:

a give-way motion instruction generator configured to generate a give-way motion instruction for causing a first mobile robot responsible for a lower priority task to move from a first route determined based upon the selected locomotion plan information to a give-way position so as to give way to a second mobile robot responsible for a higher priority task;

a circumvention instruction generator configured to generate a circumvention instruction for causing the second mobile robot to move from a second route determined based upon the selected locomotion plan information to a circumvention position so as to allow the first and second mobile robots to pass each other; and

a return instruction generator configured to generate a return instruction for causing the first mobile robot to return from the give-way position to the first route, and the second mobile robot to return from the circumvention position to the second route;

wherein the encounter-derived cost calculator comprises a circumvention cost calculator configured to calculate a difference between the sum of costs to be entailed when the first and second mobile robots move to the give-way position and circumvention position respectively, and a cost to be entailed when the first and second mobile robots proceed along the first and second route without moving to the give-way position and the circumvention position, respectively; and

wherein the plan modification instruction includes the give-way motion instruction, the circumvention instruction and the return instruction given to the circumvention controller if the sum of the cost calculated by the circumvention cost calculator and a cost to be entailed when at least one locomotion plan for the at least one of the plurality of mobile robots determined by the encounter possibility determiner to have a possibility of encounter with an obstacle is implemented turns out to be the minimized cost.

5. A robot control apparatus according to claim 1, wherein the action optimization controller is further configured to receive a plan switch request signal from a mobile robot, and to generate, in response to the received plan switch request signal, an instruction for optimizing an action of the mobile robot based upon locomotion plan information indicative of another locomotion plan different from a locomotion plan originally assigned to the mobile robot.