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基于时间窗的 AGV 动态避碰路径规划方法.
- Source :
-
Application Research of Computers / Jisuanji Yingyong Yanjiu . Jan2022, Vol. 39 Issue 1, p54-58. 5p. - Publication Year :
- 2022
-
Abstract
- In order to solve the problem of collision free path planning and system efficiency improvement of multi AGV in dynamic unstable environment, this paper proposed a collision free path planning method based on time window for AGV. Firstly, this paper established a multi-AGV collision avoidance model, combined with the time window model, and divided the collisionfree path planning of multiple AGV into two stages: pre-planning and real-time planning. In the pre-planning stage, this paper calculated the conflict-free time window of multiple AGV and maximized the circulation of AGV in the system. In the real-time planning stage, this paper used the method of changing the AGV' s occupancy priority on the collision avoidance model and local re-planning to dynamically avoid collisions. Finally, a simulation experiment with a smart warehouse as an application case proves that the algorithm can effectively avoid the collision of multiple AGV, increase the circulation of AGV, and has good robustness and flexibility in a dynamic environment. [ABSTRACT FROM AUTHOR]
- Subjects :
- *PROBLEM solving
*WAREHOUSES
*ALGORITHMS
*WAREHOUSING & storage
Subjects
Details
- Language :
- Chinese
- ISSN :
- 10013695
- Volume :
- 39
- Issue :
- 1
- Database :
- Academic Search Index
- Journal :
- Application Research of Computers / Jisuanji Yingyong Yanjiu
- Publication Type :
- Academic Journal
- Accession number :
- 154623754
- Full Text :
- https://doi.org/10.19734/j.issn.1001-3695.2021.05.0211