Parking system path planning method based on improved ant colony algorithm

Abstract

The invention discloses a parking system path planning method based on an improved ant colony algorithm, and aims at solving the problem of AGV vehicle access path planning in an intelligent parking garage so that vehicle accessing can be completed in the shortest possible time, utilization rate of parking places can be enhanced, time of waiting for vehicle accessing can be reduced for social members and automatic management of parking equipment can be realized. The concrete planning steps are that an AGV working environment model in the intelligent parking garage is created by adopting a grid method; the conventional ant colony algorithm is optimized and improved by introducing of new node state transfer probability and an updating strategy of combination of local and global pheromones; and simulated testing is performed on the AGV vehicle access path planning process by applying the improved ant colony algorithm and the result is outputted. The method has high global search capability and great convergence performance, and can effectively enhance path search efficiency, shorten search path length and reduce the number of path turnings and can also enable the AGV to effectively avoid obstacles in the complex operation environment so as to search the optimal collision-free path.

Description

technical field [0001] The invention relates to a parking system path planning method based on an improved ant colony algorithm, and belongs to the technical field of AGV path planning. Background technique [0002] The sharp increase in car ownership has become increasingly prominent with the contradiction between insufficient supply of parking spaces and excess demand for parking spaces, resulting in social problems such as urban traffic congestion and parking difficulties, and has become a bottleneck restricting urban economic and social development. The emergence of the AGV-based planar mobile intelligent parking garage has solved this problem well. Compared with traditional flat garages and mechanical three-dimensional garages, this smart garage has the advantages of less parking space, more effective storage, high automation of vehicle access, high cost performance, and high safety and reliability. It can realize unmanned automatic storage. There are many functions su...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of AGV access path planning in the intelligent three-dimensional parking garage and overcome the shortcomings of the traditional ant colony algorithm such as slow convergence speed and easy to fall into local optimal solutions, the present invention provides a parking system path planning based on the improved ant colony algorithm method

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