AGV系统的路径规划技术研究
首发时间:2018-04-28
摘要:为提高智慧工厂中自动导引车(AGV)运输效率,需要提高AGV系统的路径规划技术。从已知地图模型中进行全局路径规划,采用跳点搜索法(JPS)规划出节点间的最优全局路径,对全局规划方法JPS算法的跳跃搜索规则进行优化,然后在实际的工作环境中采用局部路径规划,采用动态窗口法(DWA)规划出节点间的局部最优路径,对局部路径规划DWA算法中的权值系数组合采用根据环境变量实时控制方法进行优化,融合全局规划和局部规划设计融合路径规划方法,保证全局规划得到最优路径,提升路径平滑性及实时避障,并在工作地图模型上对融合规划方法进行验证。?????
关键词: 自动导引车 路径规划 JPS算法 DWA算法 实时避障
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The Research on Path Planning Technology of Automatic Guided Vehicle System
Abstract:In this paper, in order to improve the efficiency of Automatic Guided Vehicle (AGV) transportation in smart factory, that needs to improve the path planning technology of AGV System. The global path planning is planning on the known map model, the Jump Point Search (JPS) is used to plan the optimal global path among nodes, and the jumping search rules of the global planning method JPS algorithm are optimized. The local path planning is used in the actual environment, the Dynamic Window Algorithm (DWA) is used to plan the nodes. In the local optimal path, the weight coefficient combination in the local path planning DWA is optimized according to the environment variable real-time control method. The fusion path planning method is combined with the global planning and the local planning design, On the basis of the optimal path, improves the path smoothness and the dynamic obstacle avoidance, Verify the fusion planning method is verified on the work map model
Keywords: automatic guided vehicle path planning jump point search dynamic window algorithm dynamic obstacle avoidance.
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