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,文中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,根据不同类型的AVG碰撞制定碰撞解决规则,并结合改进的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。
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. Using the grid method to describe the working environment of AGV intelligent warehousing,adding the penalty value of AGV shared path to improve the estimation cost of A* algorithm,it formulates collision resolutions rules according to different types of AGV collisions and proposes collision free path planning combined with improved A * algorithm and collision resolution rule. 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.
作者
邢普学
李强
魏巍
严建荣
李立光
XING Pu-xue;LI Qiang;WEI Wei;YAN Jian-rong;LI Li-guang(Anhui Electric Power Transmission & Transformation Engineering Company, Hefei 230022, China)
出处
《信息技术》
2019年第5期130-133,共4页
Information Technology
关键词
改进A*算法
自动引导车
无碰撞路径规划
智慧仓储
improved A* algorithm
automatic guided vehicle(AGV)
collision free path planning
intelligent warehousing
