改进A*算法的AGV路径规划在智慧仓储中的应用
投稿时间:2018-11-15  修订日期:2018-11-15  点此下载全文
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作者单位邮编
邢普学* 安徽送变电工程有限公司 安徽合肥 230022 230022
李强 安徽送变电工程有限公司 安徽合肥 230022 
魏巍 安徽送变电工程有限公司 安徽合肥 230022 
严建荣 安徽送变电工程有限公司 安徽合肥 230022 
李立光 安徽送变电工程有限公司 安徽合肥 230022 
中文摘要:自动引导车(AGV)的路径规划是智慧仓储系统的核心和热点研究课题,本文提出了一种基于改进A*算法的多AGV物流分拣系统无碰撞路径规划方法。利用网格方法描述了AGV智慧仓储的作业环境,通过增加AGV共享路径的惩罚值来改善A*算法的估计开销,进而缓解交通拥挤,并根据不同类型的AVG碰撞制定碰撞解决规则。结合改进的A*算法和碰撞解决规则进行无碰撞路径规划。利用C软件平台开发了多AGV分拣系统的仿真软件,仿真结果表明:所提出的无碰撞路径规划方法可以提高多AGV系统的分拣效率,缓解交通拥挤。
中文关键词:改进A*算法  自动引导车  无碰撞路径规划  智慧仓储
 
Application of AGV Path Planning based on Improved A* Algorithm in Intelligent Warehousing
Abstract:The path planning of automatic guided vehicle (AGV) is the core and hot research topic of intelligent warehousing system. This paper presents a collision-free path planning method for multi-AGV logistics sorting system based on improved A* algorithm. The grid method is used to describe the working environment of AGV intelligent warehousing. The penalty value of AGV shared path is added to improve the estimation cost of A* algorithm, thereby alleviating traffic congestion. Collision resolution rules are formulated according to different types of AGV collisions. Combined with improved A* algorithm and collision resolution rule, collision free path planning is carried out. The simulation software of multi-AGV sorting system is developed using C software platform. The simulation results show that the proposed collision-free path planning method can improve the sorting efficiency of multi-AGV system and alleviate traffic congestion.
keywords:improved A* algorithm  automatic guided vehicle  collision free path planning  intelligent storage.
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