MULTI-AGENT BEYOND-VISUAL-RANGE NETWORKED COLLABORATIVE PERCEPTION AND DYNAMIC DECISION-MAKING METHOD AND RELATED DEVICE

WIPO Patent Application WO/2024/098438

A1

A multi-agent beyond-visual-range networked collaborative perception and dynamic decision-making method and device based on a point cloud, relating to the field of robotic perception and multi-agent collaboration. According to the method, by maintaining an obstacle list of agents and a global abnormal path list, and combining collaborative perception with path planning, multi-agent collaborative perception and multi-agent collaborative planning scheduling tasks can be realized. A re-planning mechanism is introduced, such that an agent system can make a dynamic decision according to perception information, thereby improving the adaptability to a dynamic complex environment. Moreover, by introducing a path following algorithm for time window path planning, the operation speed can be dynamically adjusted according to time conditions, providing control support for a collaborative path planning algorithm. By adding an improved obstacle avoidance algorithm, when an agent encounters an obstacle, a determination as to whether the agent can autonomously avoid the obstacle is made first, and re-planning is performed if the agent cannot avoid the obstacle, thereby reducing the frequency of re-planning, and improving the operation efficiency of the agent.

WEI PING (CN)
YANG TENG (CN)
CHENG XIANG (CN)
LI PENG (CN)
LIU KEQIN (CN)
XIN JINGMIN (CN)
ZHENG NANNING (CN)

PCT/CN2022/131637

May 16, 2024

November 14, 2022

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UNIV XI AN JIAOTONG (CN)
UNIV BEIJING (CN)

G05D1/02

WO2017168423A1

2017-10-05

CN114815832A	2022-07-29
CN110955242A	2020-04-03
CN114625140A	2022-06-14
CN115016506A	2022-09-06

XI'AN TONG DA PATENT AGENCY CO., LTD. (CN)

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