多AGV路径规划方法研究-计算机科学.PDFVIP

第 44 卷第11A 期 Vo l. 44 No. 11A 计算机科学 2017 年 11 月 COMPUTER SCIENCE Nov.2017 多 AGV 路径规划方法研究 泰应鹏邢科新林日十贵张文安 (浙江工业大学信息工程学院 杭州 310023) 摘 要针对多自动导引车(Automated Guided Vehicle， AGV)在仓储物流中的路径规划问题，提出一种基于时间窗 模型的动态路径规划方法，以实现多 AGV 的动态路径规划。首先，利用 A祷算法启发式地为多个 AGV 规划路径;其 次，计算 AGV 经过珞径节点的时间，通过对时间窗的排布和更新解决了多 AGV在珞径规划中的碰撞冲突问题，而且 通过动态地为多 AGV 分自己优先级，提升了系统效率;最后，当路径中出现障碍物时，通过动态更改道路权重，重新进 行路径规划，实现了实时避障。仿真实验结果表明，该算法在保证路径最优的条件下能有效避免碰撞冲突，完成元重 复、无冲突的系统调度，不仅能提高系统效率，而且在动态环境下具有良好的适应性和鲁棒性。 关键词 自动导引车，路径规划，时间窗，无碰撞冲突，实时避障 中固法分类号 TP242 文献标识码 A Research of Path Planning in Multi-AGV System T AI Ying-peng XING K e- xin L卧~ Y e-gui ZHANG Wen-an (College of Information Engineering ,Zhejiang University of Technology ,Hangzhou 310023 ,China) Abstract In this paper ,a dynamic routing method based on time window model was presented for dealing with multi- AGV path planning problem in warehous e. Firstly ,A祷 algorithm is used for completing path routing of multiple AGV. Secondly ,the time for AGV passing through the path node气 is calculated. 如lulti-AGV conflict issues is solved by inser ting the time window into path and updating time window. Furthermore ,through dynamic allocation of priority for the multi-AGV ,the efficiency of system is enhanced. Finally , when the obstacles are in the path , by dynamically changing the path weight ,real-time obstacle avoidance is achieved. The simulation results show that the proposed algorithrn can effecti飞Tely avoid collision under the condition of optimal path ,the method can not only improve the system efficienc