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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

Inactive Publication Date: 2017-08-11
NANJING UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

However, such methods usually have a large amount of calculation and high positioning difficulty, and the single use of global path planning or local path planning methods has poor flexibility and cannot solve the problems of optimization and obstacle avoidance at the same time

Method used

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  • Vehicle path planning method based on storage unmanned vehicle
  • Vehicle path planning method based on storage unmanned vehicle
  • Vehicle path planning method based on storage unmanned vehicle

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Embodiment

[0058] to combine figure 1 , the present invention is based on a vehicle path planning method for warehouse unmanned 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 the shelves. Collect the relative positions of the feasible path of the unmanned vehicle in the storage environment and the shelf. According to the collected information, set the nodes that the unmanned vehicle can reach, and then create an The adjacency matrix of the topological map;

[0060] Step 1-1, such as image 3 As shown in Fig. 1, the environment map information is collected, and the inflection point of each intersection and the point where the unmanned vehicle needs to stop in the environment map is used as a topological node, and the road connected to the topological node is used as a topological edge, so the en...

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Abstract

The invention discloses a vehicle path planning method based on a storage unmanned vehicle. The method comprises steps of firstly determining the operation node of an unmanned vehicle in a storage environment, and making a topological map based on the environment; then through the improvement of the traditional A* algorithm, calculating the shortest path from a starting point to a target point of the unmanned vehicle in an offline way; in the process of tracking the path of the unmanned vehicle, detecting whether there are obstacles on the path by a self-brought sensor, if there are obstacles and the obstacles do not completely obstruct the path, then switching to the artificial potential field method to perform online real-time obstacle avoidance; and if the obstacles completely obstruct the path, switching to the A* algorithm to replan the path until the unmanned vehicle reaches the target point. This method not only can make full use of known information to generate the global optimal path, but also can effectively avoid the random moving obstacle on the path.

Description

technical field [0001] The invention belongs to path planning technology, in particular to a vehicle path planning method based on storage unmanned vehicles. Background technique [0002] With the rapid development of the Internet of Things, intelligent storage has become particularly important. Large warehouses have many warehouses, a lot of goods, and complex road conditions. How to quickly and effectively find goods in this complex environment is particularly prominent. To solve this problem, warehouse unmanned vehicles came into being. Warehousing unmanned vehicle refers to a car equipped with an automatic guiding device, capable of traveling along a designated path, capable of intelligently controlling the running action, and equipped with a safety protection device with a handling function. [0003] In the research of unmanned vehicle-related technologies, path planning technology is an important topic. According to the degree of environmental information perception ...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01C21/20
CPCG05D1/0088G05D1/0214G01C21/206
Inventor 王健朱欣华苏岩
Owner NANJING UNIV OF SCI & TECH
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