AGV (automated guided vehicle) real-time path planning method based on modified quantum ant colony algorithm

An ant colony algorithm and route planning technology, applied in the field of AGV real-time route planning based on the improved quantum ant colony algorithm, can solve real-time route planning problems and other problems, to improve the efficiency of cargo transportation, improve production efficiency, avoid conflicts and manpower wasteful effect

Active Publication Date: 2017-05-31
QUANZHOU INST OF EQUIP MFG
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Problems solved by technology

[0005] The purpose of the present invention is to propose an AGV real-time route planning method based on the improved quantum ant colony algorithm to solve the real-time route planning problem of the AGV in the logistics warehouse, and to meet the requirements of automatic and real-time global search, calculation time, and rapid iteration in the early stage The optimal route of an AGV can be planned based on comprehensive requirements such as convergence and post-iteration solution diversity.

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  • AGV (automated guided vehicle) real-time path planning method based on modified quantum ant colony algorithm
  • AGV (automated guided vehicle) real-time path planning method based on modified quantum ant colony algorithm
  • AGV (automated guided vehicle) real-time path planning method based on modified quantum ant colony algorithm

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[0048] Such as figure 1 An AGV real-time route planning method based on the improved quantum ant colony algorithm disclosed in the first embodiment of the present invention is carried out according to the following steps:

[0049] S1. Initialize the environment and algorithm parameters, including:

[0050] S11. Initialization environment: give the point set of each intersection in the warehouse, the feasible arc set and the distance data between each intersection, specifically:

[0051] Define G=(V,E,D) as the environment map of the warehouse, where V={1,2,...,K} is the set of intersections in the environment, that is, the point set, E={(i,j)|i ,j∈V,i≠j} is the set of AGV feasible routes between intersections, that is, the set of feasible arcs, assuming there are M arcs in total, D={d ij |i,j∈V,i≠j} represents the distance of the arc set E;

[0052] Initialize algorithm parameters: define the number of ants N, the maximum number of iterations iter; initialize the M-dimensio...

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Abstract

The invention discloses an AGV (automated guided vehicle) real-time path planning method based on modified quantum ant colony algorithm, comprising the sequential steps of S1, initializing environmental and algorithm parameters; S2, receiving an AGV path planning task; S3, constructing AGV path solutions; S4, evaluating a current solution, and recording an optimal solution; S5, using a quantum rotation gate; S6, allowing quantum mutation; S7, updating pheromone; S8 judging after computing is ended, and providing in time an AGV path that meets the comprehensive requirements, such as global search, computing time, iteration early quick convergence, and iteration late solution diversity. Manpower and time costs are saved, goods transport efficiency is improved, and production efficiency can be improved.

Description

technical field [0001] The invention belongs to the technical field of intelligent robot route planning, in particular to an AGV real-time route planning method based on an improved quantum ant colony algorithm. Background technique [0002] With the rapid development of robot technology, the function and performance of robots have gradually improved, and the application has also expanded to all aspects of production and life. Automated Guided Vehicle (AGV) belongs to the category of mobile robots. It refers to a transport vehicle that is equipped with an automatic guidance device, can travel along a designated route, can intelligently control the movement posture, and has safety protection and handling functions. AGV is suitable for scenarios of repeated handling and heavy object handling, even in harsh environments (fire) and special environments (such as radioactive environments) instead of operators for cargo handling and rescue work. Nowadays, AGVs are mostly used in t...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06Q10/04G06Q10/08G06N3/00
CPCG06N3/006G06Q10/047G06Q10/08355
Inventor 陈豪王耀宗张丹张景欣蔡品隆
Owner QUANZHOU INST OF EQUIP MFG
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