Vehicle path planning method based on storage unmanned vehicle
A vehicle path and local path planning technology, applied in vehicle position/route/height control, motor vehicles, two-dimensional position/channel control, etc., can solve the problem of inability to solve optimization and obstacle avoidance at the same time, difficult positioning, flexible Poor performance and other problems, achieve the effect of short running distance, optimize topology nodes, and improve work efficiency
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[0057] Example
[0058] Combine figure 1 , The present invention is based on the vehicle path planning method of unmanned storage vehicles, and the specific implementation steps are as follows:
[0059] Step 1. Make a topological map of the storage environment, such as figure 2 Shown is a schematic map of the storage environment. The rectangles in the figure represent shelves. Collect the relative positions of the unmanned vehicles' feasible paths and the shelves in the storage environment. According to the collected information, set the nodes that the unmanned vehicles can reach, and then create a base based on the node information. The adjacency matrix of the topological map;
[0060] Step 1-1, such as image 3 As shown, the environmental map information is collected, and each intersection in the environmental map and the point where the unmanned vehicle needs to stop is used as a topological node, and the road connected to the topological node is used as a topological edge. There...
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