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AGV (automated guide vehicle) path planning method based on A* algorithm

A path planning and algorithm technology, applied in the direction of navigation computing tools, etc., can solve the problems of increasing computer resource memory consumption, which is not conducive to production efficiency, etc., and achieve the effect of reducing data storage, reducing computing redundancy, and simplifying environmental modeling

Inactive Publication Date: 2018-06-29
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The path planning under the traditional A* algorithm uses the grid method to model, which increases the unnecessary memory consumption of computer resources, and also increases the redundancy of calculation, which is not conducive to the efficiency of production

Method used

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  • AGV (automated guide vehicle) path planning method based on A* algorithm
  • AGV (automated guide vehicle) path planning method based on A* algorithm
  • AGV (automated guide vehicle) path planning method based on A* algorithm

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Embodiment 1

[0037] figure 2 It is a floor plan of environmental equipment in a factory workshop, image 3 Model the floor plan for the shop floor topology. There are 29 node stations set up in the workshop of the factory for the AGV delivery task stops. The nodes are connected if there is a connection between them, and the AGV can only drive on the connected road section. Node 1 is set as the starting point A of the task, and the end point is node 27, and the method of the present invention is used for AGV path planning.

[0038] Output the optimal path at the end of the algorithm process, Figure 4 The bold solid line in the center represents the path generated by the planning algorithm of the present invention. Compared with the dotted line path generated by the traditional A* algorithm using the grid method, it is obvious that the method of the present invention outputs a smoother, safer and more reliable path. The path is relatively rough and requires a lot of calculation, so it c...

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Abstract

The invention discloses an AGV (automated guide vehicle) path planning method based on an A* algorithm. The AGV path planning method comprises steps as follows: firstly, an environmental map is established with a topological method, and the abstract environment is described with a specific data structure; secondly, a heuristic function is established with the A* algorithm, a reasonable evaluationfunction is set, and a path between nodes on the map is solved; finally, according to a specific task requirement of an AGV, a reasonable price mechanism is made to guide the algorithm for obtaining of the optimal solution. With adoption of the method, the working environment of the AGV can be described accurately, storage space of the map is reduced, and efficiency and accuracy of the algorithm are improved.

Description

technical field [0001] The invention belongs to the technical field of industrial control, and in particular relates to an AGV path planning method based on an A* algorithm. Background technique [0002] With the improvement of the automation degree of production logistics, modern industrial production puts forward higher requirements on the logistics system. An automatic guided vehicle (AGV) is an automated transportation device that can complete specified transportation tasks in a given path and scene information layout. The increasing number of AGVs in a system has brought many difficulties to the path planning of the AGV system. A good path planning method can not only improve the efficiency of automated production, but also ensure the utilization rate of production equipment. The path planning under the traditional A* algorithm uses the grid method to model, which increases the unnecessary memory consumption of computer resources, and also increases the redundancy of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 徐民强戚志东薛长森戈卫平徐胜元孙琦刘翰东裴进
Owner NANJING UNIV OF SCI & TECH
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