Automatic guiding vehicle global route planning method applicable to logistics warehousing system

Abstract

The invention provides an automatic guiding vehicle global route planning method applicable to a logistics warehousing system. The method includes the steps of creating an environmental map accordingto environmental information; conducting noise removal, region planning and expansion treatment on the created environmental map; on the basis of the environmental map, obtaining the coordinate of a starting point n0 and the coordinate of a target point nt and conducting global route planning according to an optimized route cost function. According to the provided automatic guiding vehicle globalroute planning method, the optimized route cost function is adopted, a cornering factor (such as cornering tendency, cornering amplitude and running speed) and a barrier distance factor are taken intoaccount, and after the two factors are added, the sensitivity of an heuristic evaluation function on cornering and the distance between an automatic guiding vehicle and barriers is improved; the cornering frequency is greatly reduced, and the distance between the vehicle and the barriers is increased; therefore, the cornering frequency of a planned global route is decreased, and the automatic guiding vehicle is prevented from advancing close to the barriers.

Description

technical field [0001] The invention relates to the technical field of path planning, in particular to a global path planning method for an automatic guided vehicle suitable for a logistics storage system. Background technique [0002] In recent years, with the continuous development of Internet technology, artificial intelligence technology, computer technology, and sensor technology, robot technology has also developed rapidly. Due to its high degree of automation, high work stability, and high efficiency, automatic guided vehicles are widely used in e-commerce sorting centers, manufacturing raw material warehouses and finished product warehouses, 3C manufacturing, tobacco, medical care, automobiles, food, clothing, etc. industry. As one of the core elements of autonomous navigation of automatic guided vehicles, path planning is an important symbol that reflects the intelligence and high efficiency of automatic guided vehicles. Automatic guided vehicle path planning refe...

AI Technical Summary

Problems solved by technology

However, there are still some problems in these algorithms. Due to the excessive pursuit of the shortest path, the resulting path generally has many turns and the path is close to obstacles, resulting in frequent acceleration and deceleration, turning, Pause and other situations, these have greatly affected the operating efficiency and safety of automatic guided vehicles (AGV)

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