CN116627140A - Multi-robot cooperative obstacle avoidance method and system - Google Patents
Multi-robot cooperative obstacle avoidance method and system Download PDFInfo
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Abstract
The invention relates to a multi-robot cooperative obstacle avoidance method and system, comprising the following specific steps: s1: constructing a cost map and acquiring state information of all robots, wherein the state information comprises position information and speed information; s2: predicting paths of the current robot and other robots according to the state information, and judging whether predicted paths of the current robot and other robots overlap or intersect; s3: if the predicted paths overlap or intersect, the priority of the numbers of all robots is determined, and the robot with the highest number priority passes through the predicted path preferentially. The multi-robot cooperative obstacle avoidance method and system provided by the invention have the advantages that the difficulty of robot cooperative obstacle avoidance is greatly reduced, the reliability of the multi-robot cooperative obstacle avoidance is improved, and the robots are more intelligent in actual application scenes.
Description
Technical Field
The invention relates to the technical field of robot obstacle avoidance, in particular to a multi-robot cooperative obstacle avoidance method.
Background
In the era of spread of artificial intelligence, various robots are facing the edge, and particularly, more and more indoor robots are available, and the robots can be used for distribution, introduction and the like, so as to reduce the separation of labor force from repeated and tedious labor force; along with the wide application of a large number of indoor robots in recent years, a plurality of robots are required to be arranged in a space range, and the reliability of autonomous obstacle avoidance for the plurality of robots is higher and higher; the existing robot obstacle avoidance strategy is realized by fusion of a plurality of sensors through an ultrasonic radar, a laser radar and a depth camera, and in order to realize accurate identification of obstacles, algorithms such as a deep learning neural network are also needed, so that a lot of computational resources are consumed.
Some obstacle avoidance schemes of multiple robots upload information such as the position of each robot to the cloud in real time, and then each robot acquires the states of other robots at the cloud; on the one hand, the real-time performance of data transmission by the network is not high, and on the other hand, the autonomous obstacle avoidance reliability of the multiple robots can be reduced when the network is not good or the network is not available; and is costly, there is a need for improvements over the prior art.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the multi-robot cooperative obstacle avoidance method, which greatly reduces the difficulty of robot cooperative obstacle avoidance, improves the reliability of the multi-robot cooperative obstacle avoidance and ensures that the robot is more intelligent in the actual application scene.
In order to achieve the purpose of the invention, the invention provides a multi-robot cooperative obstacle avoidance method, which comprises the following specific steps:
s1: constructing a cost map and acquiring state information of all robots, wherein the state information comprises position information and speed information;
s2: predicting paths of the current robot and other robots according to the state information, and judging whether predicted paths of the current robot and other robots overlap or intersect;
s3: if the predicted paths overlap or intersect, the priority of the numbers of all robots is determined, and the robot with the highest number priority passes through the predicted path preferentially.
Preferably, the specific step of step S2 further includes:
and carrying out path prediction on the current robot and other robots according to the state information, judging whether the current robot and the other robots are positioned on the same floor, if so, taking the state information and the predicted paths of the other robots as barriers and marking the barriers on a cost map, judging whether the predicted paths of the current robot and the other robots are overlapped or intersected, and if not, discarding the state information and the predicted paths of the other robots.
Preferably, the specific step of step S2 further includes:
expanding the position coordinates of other robots according to the geometric shapes of the robots, predicting paths according to the coordinates and speed information of geometric shape vertexes of the other robots, and marking the geometric shape vertexes coordinates and the predicted paths as barriers on a cost map.
Preferably, the specific step of step S3 further includes:
when the robot with the highest number priority passes through the predicted path preferentially, the robot with the lowest number priority needs to wait for a preset time in situ and then pass through the predicted path.
Preferably, the specific step of predicting the path of the current robot and other robots according to the state information in step S2 further includes:
and predicting the path of the current robot and other robots within 1-3 seconds according to the state information.
Preferably, the robots comprise Bluetooth mesh modules, and the robots communicate with each other through the Bluetooth mesh modules.
Preferably, the present invention further provides a multi-robot cooperative obstacle avoidance system, including:
the acquisition module is used for: the method comprises the steps of constructing a cost map and acquiring state information of all robots, wherein the state information comprises position information and speed information;
and a path prediction module: the path prediction method is used for predicting paths of the current robot and other robots according to the state information;
and a judging module: for judging whether the predicted paths of the current robot and other robots overlap or intersect; if the predicted paths overlap or intersect, the priority of the numbers of all robots is determined, and the robot with the highest number priority passes through the predicted path preferentially.
Preferably, the determining module includes:
a first determination module: and the method is used for judging whether the current robot and the other robots are positioned on the same floor, if so, the state information and the predicted paths of the other robots are used as barriers and marked on a cost map, whether the predicted paths of the current robot and the other robots are overlapped or intersected is judged, and if not, the state information and the predicted paths of the other robots are discarded.
Preferably, the path prediction module specifically includes:
expanding the position coordinates of other robots according to the geometric shapes of the robots, predicting paths according to the coordinates and speed information of geometric shape vertexes of the other robots, and marking the geometric shape vertexes coordinates and the predicted paths as barriers on a cost map.
Preferably, the determining module specifically further includes:
when the robot with the highest number priority passes through the predicted path preferentially, the robot with the lowest number priority needs to wait for a preset time in situ and then pass through the predicted path.
The beneficial effects of the invention are as follows: the multi-robot cooperative obstacle avoidance method and system provided by the invention have the advantages that the difficulty of robot cooperative obstacle avoidance is greatly reduced, the reliability of the multi-robot cooperative obstacle avoidance is improved, and the robots are more intelligent in actual application scenes.
Drawings
The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular description of preferred embodiments of the invention, as illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings, and the drawings are not intentionally drawn to scale on actual size or the like, with emphasis on illustrating the principles of the invention.
Fig. 1 is a schematic flow chart of a multi-robot cooperative obstacle avoidance method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of communication between multiple robots through a bluetooth mesh module according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of receiving or transmitting related data of other robots through a bluetooth mesh module between multiple robots according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of specific operations (schematic views of azimuth angle, speed, etc.) in an actual process of a robot according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of implementing coordination obstacle avoidance of the current robot and other robots in an actual process according to the embodiment of the present invention;
Detailed Description
The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific examples, so that those skilled in the art can better understand the present invention and implement it, but the examples are not limited thereto.
Referring to fig. 1-5, an embodiment of the present invention provides a multi-robot collaborative obstacle avoidance method, which specifically includes the steps of:
s1: constructing a cost map and acquiring state information of all robots, wherein the state information comprises position information and speed information;
s2: predicting paths of the current robot and other robots according to the state information, and judging whether predicted paths of the current robot and other robots overlap or intersect;
s3: if the predicted paths overlap or intersect, the priority of the numbers of all robots is determined, and the robot with the highest number priority passes through the predicted path preferentially.
Referring to fig. 1-5, the multi-robot collaborative obstacle avoidance method provided by the invention firstly predicts paths of state information of a plurality of robots, then judges whether predicted paths among the plurality of robots overlap or intersect, and when the plurality of robots overlap or intersect, judges priority according to unique numbers of the robots, so that collision situations of the plurality of robots in the same space are avoided, and the robots can be more intelligent in the normal operation process.
The beneficial effects of the invention are as follows: the multi-robot cooperative obstacle avoidance method and system provided by the invention have the advantages that the difficulty of robot cooperative obstacle avoidance is greatly reduced, the reliability of the multi-robot cooperative obstacle avoidance is improved, and the robots are more intelligent in actual application scenes.
Referring to fig. 1-5, in a preferred embodiment, the specific steps of step S2 further include:
and carrying out path prediction on the current robot and other robots according to the state information, judging whether the current robot and the other robots are positioned on the same floor, if so, taking the state information and the predicted paths of the other robots as barriers and marking the barriers on a cost map, judging whether the predicted paths of the current robot and the other robots are overlapped or intersected, and if not, discarding the state information and the predicted paths of the other robots.
Processing other robot information processing on the map of the robot path plan as shown in the flow chart of fig. 3, subscribing the information of the robot B (other robots) sent by the bluetooth module node on the map of the robot a (current robot) path plan by utilizing the ROS communication mode, acquiring the information of the robot B, and then judging whether the robot B is located in the same floor with the robot a, if not, discarding the information of the robot B, because the running of the robots not located in the same floor is not mutually interfered. It is necessary to superimpose the position of robot B on the map as a known obstacle on the same layer. Since the receiving frequency is 5hz, the obstacle displayed on the map is also flashing, and in order to continuously display the obstacle on the map, a certain logic processing is needed, the processing method is that the data of other robots are stored and displayed all the time, and the robot position is not displayed when the data cannot be received for more than 1 second. After such processing, other robot positions are always displayed on the map, and the robot positions are removed from the map after the data is interrupted for 1 second due to the fact that the distance between the two robots is too large or the data is discontinuous.
Referring to fig. 1-5, in a preferred embodiment, the specific steps of step S2 further include:
expanding the position coordinates of other robots according to the geometric shapes of the robots, predicting paths according to the coordinates and speed information of geometric shape vertexes of the other robots, and marking the geometric shape vertexes coordinates and the predicted paths as barriers on a cost map.
If the path prediction is carried out only by single-point position coordinates of the robot, the obstacle avoidance cannot be actually carried out, because the geometric shapes of the robot are different (geometric shapes such as square or round, and the like), and because the specific coordinates of the vertexes of the geometric shapes of the robot on a cost map need to be considered in the practical application scene, the predicted path of the robot is accurately obtained, namely, the single point needs to be expanded (the single point is expanded into the obstacle point with the size of the robot), when the robot is in a round structure, one point is expanded into 5 points in the front, the back, the left and the right of the robot in order to reduce the calculated amount, and the 5 point expansion modes are that
Wherein r is the radius to be expanded, and different expansion modes can be provided according to the appearance structures of different robots.
When extending the coordinates of each vertex of the robot geometry, it is also necessary to predict the trajectory from the velocity information, as shown in fig. 5. A series of predicted track points can be calculated according to the plane coordinate point expression without acceleration information, and the predicted time is 1 second. The robot expansion points are 5 so that 5 paths can be predicted to serve as track areas where the robot is to travel. Marking these points on the map can be considered known obstacles and the path planning can re-plan the path based on this information.
Referring to fig. 1-5, in a further preferred embodiment, the specific steps of step S3 further include:
when the robot with the highest number priority passes through the predicted path preferentially, the robot with the lowest number priority needs to wait for a preset time in situ and then pass through the predicted path.
Referring to fig. 1-5, in a further preferred embodiment, the specific step of predicting the path of the current robot and other robots according to the state information in step S2 further includes:
and predicting the path of the current robot and other robots within 1-3 seconds according to the state information.
After the track prediction is performed, in order to enable the robots to smoothly pass through a scene of traveling in the right-angle blind area without generating extra redundant avoiding actions, the planning time in the local planner needs to be adjusted, and the time waiting logic is added to enable the robots to be staggered in planning (namely, after the robot with the highest priority passes through preferentially, the robot with the lowest priority needs to wait for the preset time and then passes through the preset path). The robots travel in right angle bend stagger with a visual field blind area as shown in fig. 5, although the robots can sense the positions of the other robots, corresponding deceleration braking measures are adopted, the internal planning modes adopted by the same type of robots are the same, for example, the robots travel in the direction without the obstacle after finding that the obstacle decelerates, and the two robots predict that the travel track of the other robot is very short after decelerating, and even when stopping, the two robots have no track and only have 5 obstacle points. The two robots can both walk in the front range of each other, and the two robots can walk along the path required by each other, so that the possibility of collision is avoided or redundant obstacle-detouring actions are caused. It is necessary to increase the waiting time so that the running time between different robots is staggered, both robots find that the predicted track of each other is on the track that they need to run and all need to take braking measures, at this time, the robots need to compare according to the id information (unique number) of the other robot (robot B) and the id information of the current robot (robot a), the id of the known robot a=10, the id of the robot b=20, the robot a finds that the priority of the robot B is higher (the larger the agreed id is, the higher the priority is, the specific priority size can be freely set, this embodiment does not limit this), and two seconds of waiting are required. The robot B can continue to run by finding itself by comparison without waiting, which can avoid the problem of blockage. When a plurality of robots are present, for example, 5 robots, each robot needs to determine that a plurality of robots have high priority, and then the time coefficient is multiplied by 2-4 seconds (preferably 2 seconds) to obtain the waiting time of the robots, so that the orderly operation among the robots is ensured, and the robots are more intelligent.
Referring to fig. 2, in a preferred embodiment, the robots include bluetooth mesh modules, and the robots communicate with each other through the bluetooth mesh modules.
By installing the Bluetooth mesh modules on the robot and correspondingly arranging the Bluetooth mesh modules, the types of the Bluetooth mesh modules are very many, the general principles are basically the same, and the use modes are almost the same. Setting a mode corresponding to the module according to the requirement of the module, and setting related parameters such as the baud rate, the mesh networking ID, the mesh networking short address, the working mode (transparent transmission or instruction mode) and the like according to the actual scene of the robot. The baud rate is set for communication with a robot controller, the mesh networking ID is used for the network name of the module for self networking identification, the mesh networking short address is used as the unique ID of the module, and the work mode is transmitted more stably by using the instruction mode. As shown in fig. 2, a plurality of robot information transmission modes are illustrated.
A node is newly added in a robot system based on the ROS frame and used for processing data of a Bluetooth module to construct the ROS node for processing data received by the module and data to be transmitted, and if two robots exist, the node in the robot A needs to process the data to be transmitted by the robot A and process the data to be transmitted by the robot B. Robot a needs to obtain its own position coordinates on the map, abscissa x, ordinate y and azimuth θ, from ROS node communication. The speed information linear velocity v and the angular velocity ω are acquired from the odometer information. There is also a unique identification id of the robot. The floor information floor of the map also needs to be acquired if multiple robots are working in the building, i.e. between different floors. The information is packed into corresponding format according to the transmission data protocol of the module and broadcast and transmitted, and in order to reduce the resource occupation and transmit the frequency to 5hz, the speed of 5hz is enough to be used in the robot scene with low speed. As shown in fig. 3, the data receiving process is also performed in this node, in which the received data is parsed into x, y, θ, v, ω, id and floor corresponding to the data sending robot B according to the format of the packed data. This information is then sent out in the form of ROS topics.
The multi-robot cooperative obstacle avoidance method and system provided by the invention mainly realize autonomous obstacle avoidance of the obstacle through the near-field Bluetooth ad hoc network mesh module scheme and the marking method of the cost map obstacle based on the ROS frame, have the advantages of low cost, low operation amount, departure from a cloud network and less system resource utilization, and overcome the defects of high operation amount and high system complexity caused by the requirement of multi-sensor fusion visual recognition of the obstacle and track prediction. The difficulty of robot cooperation obstacle avoidance is greatly reduced, and the reliability of multi-robot cooperation obstacle avoidance is improved.
Information broadcasting is achieved through the Bluetooth mesh ad hoc network module, and the robots in close range know information such as position and speed. The Bluetooth MESH module conforms to a Bluetooth module protocol 5.2, integrates master and slave transceiving, and supports configuration of multiple modes (BLE master and slave transparent transmission mode, MESH instruction mode, automobile keys, switch panels and MESH low-power consumption remote controllers). Each module is provided with a relay function, and the transmission distance between the modules is longer. The device is attached to the robots as a peripheral device, which serves as a means of communication between the robots.
Based on the ROS framework, a node is required to process the data of the Bluetooth mesh module, and the node is mainly used for transmitting the position information, the speed information and the like of the robot and processing the data transmitted by other modules. The positions of other robots are marked on a cost map on a planned path according to the processed information (the position, the speed and the like of the other robots) to serve as barriers, the track of the robot is predicted according to the speed information (the linear speed and the angular speed), and the predicted track is also marked on the cost map as barrier points. The robot can autonomously plan the local path to control the robot to perform obstacle avoidance according to the obstacle on the cost map.
The low-power Bluetooth mesh module is limited by the limitation of the transmission information of the Bluetooth mesh module, the data volume of low-power Bluetooth mesh transmission is limited, the data volume of single transmission cannot exceed a certain range, otherwise, the transmission rate is affected, and a large amount of data transmission is lost. If each robot transmits own running track data volume, real-time performance and receiving rate are greatly reduced, so that prediction of running tracks of other robots is required, the data volume required for prediction is small, and only position information and speed information of other robots are required. The prediction method is to infer a running track within n seconds (which is preferably 1 second to be changed according to actual conditions) according to the position information and the speed information, and generate the running track in an integral mode at certain time intervals according to the positions and azimuth angles, linear speeds and angular speeds of other robots. I.e. to calculate the distance the robot is ready to travel, i.e. to integrate the speed over a certain period of time. The trajectory can be regarded as approximately uniform linear motion in a very short time of the robot motion. In the absence of acceleration information, the expression of the plane coordinate point is
The equation is a discretized equation, where Δt is the sampling time interval, the smaller the time interval, the more accurate the path point. In order to reduce the calculation amount deltat not to be too small, the invention takes deltat=0.1s, and if acceleration information exists, the plane coordinate expression is as follows
According to the above information, the travel track of other robots can be predicted approximately, but if the actual travel track is deduced by means of the track, a certain uncertainty exists in the actual travel track, so that the prediction time of the predicted path cannot be too long, usually 1-3 seconds, preferably 1 second, 1.5 seconds or 1-1.5 seconds, the travel track of other robots nearby the current robot in a preset time can be known through the prediction time and marked as an obstacle on a cost map, and therefore the current robot can be ensured to judge whether the predicted path overlaps or intersects with the predicted path (the preset time for which the obstacle needs to wait) of the other robots, and the cooperative obstacle avoidance among multiple robots is realized.
The multi-robot cooperative obstacle avoidance method and system provided by the invention can greatly reduce the collision probability of robots in mutually visual field blind areas under the condition of cooperative work of the multiple robots, and improve the passing rate. Similar to a visual field blind area and the like which are turned right angles, even if robots in the visual field blind area are identified and detected or cannot be detected by strong multi-sensor fusion, the scheme can be used for understanding that the robots are already known in the nearby area range, and the prediction of the driving track is used for preventing scratch or collision caused by untimely braking of the robots. Meanwhile, the cost of uploading information to the cloud or distributing the local area network full coverage in a warehouse by the robot can be reduced. Has the advantages of low hardware cost, low resource occupation and low operation amount.
Referring to fig. 3, in the practical application process, the current robot (robot a) and the other robots (robot B) need to acquire the current cost map and acquire the current coordinates (data information such as abscissa, ordinate and azimuth) and speed information (such as linear speed and angular speed) firstly, then judge whether the other robots are on the same floor or in the same space as the current robot, acquire the unique IDs (numbers) of the current robot and the other robots, and finally package all acquired information to the other robots through a bluetooth mesh module; receiving information: the current robot receives information (such as speed, position, number and the like) sent by other robots, judges whether the current robot is located on the same floor or in the same space, marks the information and the predicted path of the other robots on a cost map as barriers if the current robot is located in the same floor or in the same space, and then plans the predicted path of the current robot.
Referring to fig. 1-5, in a further preferred embodiment, the present invention further provides a multi-robot cooperative obstacle avoidance system (the system corresponds to the method of the above embodiment one by one), which includes:
the acquisition module is used for: the method comprises the steps of constructing a cost map and acquiring state information of all robots, wherein the state information comprises position information and speed information;
and a path prediction module: the path prediction method is used for predicting paths of the current robot and other robots according to the state information;
and a judging module: for judging whether the predicted paths of the current robot and other robots overlap or intersect; if the predicted paths overlap or intersect, the priority of the numbers of all robots is determined, and the robot with the highest number priority passes through the predicted path preferentially.
Referring to fig. 1-5, in a preferred embodiment, the determining module includes:
a first determination module: and the method is used for judging whether the current robot and the other robots are positioned on the same floor, if so, the state information and the predicted paths of the other robots are used as barriers and marked on a cost map, whether the predicted paths of the current robot and the other robots are overlapped or intersected is judged, and if not, the state information and the predicted paths of the other robots are discarded.
Referring to fig. 1-5, in a preferred embodiment, the path prediction module specifically includes:
expanding the position coordinates of other robots according to the geometric shapes of the robots, predicting paths according to the coordinates and speed information of geometric shape vertexes of the other robots, and marking the geometric shape vertexes coordinates and the predicted paths as barriers on a cost map.
Referring to fig. 1-5, in a preferred embodiment, the determining module specifically further includes:
when the robot with the highest number priority passes through the predicted path preferentially, the robot with the lowest number priority needs to wait for a preset time in situ and then pass through the predicted path.
The beneficial effects of the invention are as follows: the invention provides a multi-robot cooperative obstacle avoidance method and system, which greatly reduce the difficulty of robot cooperative obstacle avoidance, improve the reliability of the multi-robot cooperative obstacle avoidance and enable the robot to be more intelligent in the actual application scene.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. The multi-robot cooperative obstacle avoidance method is characterized by comprising the following specific steps of:
s1: constructing a cost map and acquiring state information of all robots, wherein the state information comprises position information and speed information;
s2: predicting paths of the current robot and other robots according to the state information, and judging whether predicted paths of the current robot and other robots overlap or intersect;
s3: if the predicted paths overlap or intersect, the priority of the numbers of all robots is determined, and the robot with the highest number priority passes through the predicted path preferentially.
2. The multi-robot cooperative obstacle avoidance method of claim 1, wherein the specific step of step S2 further comprises:
and carrying out path prediction on the current robot and other robots according to the state information, judging whether the current robot and the other robots are positioned on the same floor, if so, taking the state information and the predicted paths of the other robots as barriers and marking the barriers on a cost map, judging whether the predicted paths of the current robot and the other robots are overlapped or intersected, and if not, discarding the state information and the predicted paths of the other robots.
3. The multi-robot cooperative obstacle avoidance method of claim 2, wherein the specific step of step S2 further comprises:
expanding the position coordinates of other robots according to the geometric shapes of the robots, predicting paths according to the coordinates and speed information of geometric shape vertexes of the other robots, and marking the geometric shape vertexes coordinates and the predicted paths as barriers on a cost map.
4. The multi-robot cooperative obstacle avoidance method of claim 1, wherein the specific step of step S3 further comprises:
when the robot with the highest number priority passes through the predicted path preferentially, the robot with the lowest number priority needs to wait for a preset time in situ and then pass through the predicted path.
5. The multi-robot collaborative obstacle avoidance method according to claim 1, wherein the specific step of predicting the current robot and other robots based on the status information in step S2 further comprises:
and predicting the path of the current robot and other robots within 1-3 seconds according to the state information.
6. The multi-robot cooperative obstacle avoidance method of claim 1, wherein the robots comprise bluetooth mesh modules, and the robots communicate with each other through the bluetooth mesh modules.
7. A multi-robot collaborative obstacle avoidance system, comprising:
the acquisition module is used for: the method comprises the steps of constructing a cost map and acquiring state information of all robots, wherein the state information comprises position information and speed information;
and a path prediction module: the path prediction method is used for predicting paths of the current robot and other robots according to the state information;
and a judging module: for judging whether the predicted paths of the current robot and other robots overlap or intersect; if the predicted paths overlap or intersect, the priority of the numbers of all robots is determined, and the robot with the highest number priority passes through the predicted path preferentially.
8. The multi-robot cooperative obstacle avoidance system of claim 7, wherein the determination module comprises:
a first determination module: and the method is used for judging whether the current robot and the other robots are positioned on the same floor, if so, the state information and the predicted paths of the other robots are used as barriers and marked on a cost map, whether the predicted paths of the current robot and the other robots are overlapped or intersected is judged, and if not, the state information and the predicted paths of the other robots are discarded.
9. The multi-robot collaborative obstacle avoidance system of claim 7, wherein the path prediction module specifically comprises:
expanding the position coordinates of other robots according to the geometric shapes of the robots, predicting paths according to the coordinates and speed information of geometric shape vertexes of the other robots, and marking the geometric shape vertexes coordinates and the predicted paths as barriers on a cost map.
10. The multi-robot collaborative obstacle avoidance system of claim 7, wherein the determination module specifically further comprises:
when the robot with the highest number priority passes through the predicted path preferentially, the robot with the lowest number priority needs to wait for a preset time in situ and then pass through the predicted path.
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