Parking system path planning method based on dynamic time windows

Abstract

The invention discloses a parking system path planning method based on dynamic time windows, and belongs to the technical field of path planning. The method is characterized by comprising the following steps: S1, building a work environment model of AGVs in an intelligent garage in a topological method; S2, setting priority for each AGV and each car parking / picking task according to different evaluation criteria; S3, using a Dijkstra algorithm to plan a shortest possible path for an AGV accepting a task; S4, arranging feasible path time windows; S5, designing conflict resolution strategies according to different types of conflicts; and S6, planning a conflict-free optimal path for the AGV using a parking system path planning algorithm based on dynamic time windows. A time-sharing use strategy is used, and the Dijkstra algorithm and a time window method are combined effectively, so that the problem that the existing multi-AGV path planning is of poor flexibility and is prone to deadlock or collision conflict is solved effectively, and a shortest conflict-free optimal path can be planned for an AGV accepting a task. In addition, the overall operation efficiency of an intelligent three-dimensional parking system can be improved effectively, and the car parking / picking waiting time can be reduced for social members.

Description

technical field

[0001] The invention belongs to the technical field of automatic guided vehicle (AGV) path planning, and in particular relates to a path planning method for a parking system based on a dynamic time window. Background technique

[0002] In recent years, with the rapid development of the national economy, the number of automobiles in my country has increased dramatically. According to the data released by the Traffic Management Bureau of the Ministry of Public Security, as of the end of December 2015, the number of motor vehicles in my country reached 279 million, an increase of about 15 million compared with last year, of which the number of cars was 172 million, accounting for about 61.6% of the total. Across the country, there are 40 cities with more than one million cars, of which 11 cities, including Beijing, Chengdu, Shenzhen, Tianjin, Shanghai, Suzhou, Chongqing, Guangzhou, Hangzhou, Zhengzhou and Xi'an, have more than 200 cars million vehicles. The sh...

Examples

Embodiment Construction

[0088] The content of the present invention will be described in detail below in conjunction with the accompanying drawings, but the present invention is not limited thereto.

[0089] The present invention provides a parking system path planning method based on a dynamic time window, figure 1 Shown is the algorithm implementation flow chart of the present invention, and this flow chart describes the solution process of multi-AGV conflict-free optimal path, specifically includes the following steps:

[0090] Step S1: Use the topology method to create the working environment model of the AGV in the smart garage. The specific steps include:

[0091] Step S11: The traffic road network and AGV in the environment model are processed as follows: ① The AGV running lane is a single-lane bidirectional mode, and only one AGV can be accommodated in the width direction; ② The AGV in the system can only accept one AGV in the same time period During the execution of the task, other tasks as...

technical field

[0001] The invention belongs to the technical field of automatic guided vehicle (AGV) path planning, and in particular relates to a path planning method for a parking system based on a dynamic time window. Background technique

[0002] In recent years, with the rapid development of the national economy, the number of automobiles in my country has increased dramatically. According to the data released by the Traffic Management Bureau of the Ministry of Public Security, as of the end of December 2015, the number of motor vehicles in my country reached 279 million, an increase of about 15 million compared with last year, of which the number of cars was 172 million, accounting for about 61.6% of the total. Across the country, there are 40 cities with more than one million cars, of which 11 cities, including Beijing, Chengdu, Shenzhen, Tianjin, Shanghai, Suzhou, Chongqing, Guangzhou, Hangzhou, Zhengzhou and Xi'an, have more than 200 cars million vehicles. The sh...

Examples

Embodiment Construction

[0088] The content of the present invention will be described in detail below in conjunction with the accompanying drawings, but the present invention is not limited thereto.

[0089] The present invention provides a parking system path planning method based on a dynamic time window, figure 1 Shown is the algorithm implementation flow chart of the present invention, and this flow chart describes the solution process of multi-AGV conflict-free optimal path, specifically includes the following steps:

[0090] Step S1: Use the topology method to create the working environment model of the AGV in the smart garage. The specific steps include:

[0091] Step S11: The traffic road network and AGV in the environment model are processed as follows: ① The AGV running lane is a single-lane bidirectional mode, and only one AGV can be accommodated in the width direction; ② The AGV in the system can only accept one AGV in the same time period During the execution of the task, other tasks as...

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