Improved A* robot optimal path planning method suitable for warehouse environment

An optimal path planning and robotics technology, applied in instruments, data processing applications, two-dimensional position/channel control, etc., can solve problems such as the inability to obtain optimal paths, and achieve easy programming, high real-time performance, and computational complexity. small effect

Active Publication Date: 2017-03-22
ZHEJIANG UNIV OF TECH
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[0007] The present invention utilizes the real-time and easy-to-program characteristics of the A* algorithm, and provides appropriate heuristic information to optimize the search path according t

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  • Improved A* robot optimal path planning method suitable for warehouse environment
  • Improved A* robot optimal path planning method suitable for warehouse environment
  • Improved A* robot optimal path planning method suitable for warehouse environment

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[0021] The improved A* robot optimal path planning method applicable to the warehouse environment of the present invention will be further described through simple examples below in conjunction with the accompanying drawings.

[0022] The improved A* optimal path planning method suitable for the warehouse environment mainly includes the following contents: firstly, an effective and flexible warehouse model is designed, including the design of shelf distribution and road operation rules. The warehouse model is as follows: figure 1 shown. According to the road operation rules in the warehouse model, the path planning problem is simplified to the path planning problem between each node. Then, the improved A* algorithm is used to search for the optimal path between the two nodes. Among them, the calculation of the heuristic function includes the estimation of steering cost, Manhattan distance, and detour distance. The path searched by the improved A* algorithm is a list composed...

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Abstract

The invention discloses an improved A* robot optimal path planning method suitable for a warehouse environment. The improved A* robot optimal path planning method comprises the steps of: firstly, designing an effective warehouse model capable of flexible expansion, including the design of shelf distribution and a road operating rule; simplifying a path planning problem into path planning problems among nodes according to the road operating rule in the warehouse mode; then adopting an improved A* algorithm to search for an optimal path between two nodes, wherein the calculation of a heuristic function includes estimation of a steering price, a Manhattan distance and bypass distance; and finally, adding a path between an initial position of a robot and an initial node as well as a path between a target position and a target node into a previous node list to form a complete path list. The nodes in the path list correspond to positions in an actual warehouse, the optimal operating path of the robot is obtained, and the operating paths of the robot are extended into an operating state list of the robot.

Description

technical field [0001] The invention relates to the optimal path planning problem in the warehouse environment. For the warehouse model with dynamically distributed shelves and road rules, the invention proposes an improved A* path planning algorithm to solve the optimal path planning between two points in the warehouse model The problem is to ensure that the warehouse mobile robot reaches the target with the optimal route. Background technique [0002] With the development of Internet of Things technology, robot technology and computer technology, the application of multi-robot control system to the sorting link of automated warehouse system has become the development trend of logistics sorting. In the traditional commodity sorting mode, the sorting personnel traverse the corresponding shelves to complete the order packing work. In the automated warehouse system, the layout of commodity shelves adopts a dynamic distribution method, and the corresponding shelves are transpo...

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Application Information

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IPC IPC(8): G05D1/02G06Q10/04
CPCG05D1/0219G05D1/0221G06Q10/047
Inventor 禹鑫燚卢靓郭永奎朱熠琛欧林林
Owner ZHEJIANG UNIV OF TECH
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