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Parking AGV path planning method based on improved Dijkstra algorithm

A path planning and algorithm technology, applied in vehicle position/route/altitude control, motor vehicle, two-dimensional position/channel control and other directions, can solve the problem of limited AGV operating efficiency, and achieve convenient task allocation and shortening of waiting time. Effect

Active Publication Date: 2019-03-15
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0004] The AGV dynamic path planning algorithms proposed in the above literature all use a single index as the goal of algorithm optimization, so the AGV operating efficiency is limited, and it is impossible to ensure the operating efficiency of the parking AGV system while optimizing the AGV path

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  • Parking AGV path planning method based on improved Dijkstra algorithm
  • Parking AGV path planning method based on improved Dijkstra algorithm
  • Parking AGV path planning method based on improved Dijkstra algorithm

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Embodiment Construction

[0050] The content of the present invention will be further described below in combination with specific embodiments.

[0051] The present invention is based on the improved Dijkstra algorithm parking AGV path planning method, image 3 Implementation flowchart for the present invention, concrete content comprises the following steps:

[0052] ⑴Create the operating scene model of the parking automatic guided transport vehicle AGV, and represent the environment of the parking lot as a strongly connected graph. The optimal path of connectivity abstracts the distribution of parking spaces into a weighted connection network G(V, E, W ij ), where V represents the set of edges composed of two connected nodes, E represents the set of nodes, and W ij Represents nodes i and j forming an edge V ij The weight of the AGV, the running path of the AGV is represented by an ordered array of nodes, and the order of the nodes is the order of the running path of the AGV.

[0053] (2) Initial...

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Abstract

The invention discloses a parking AGV path planning method based on an improved Dijkstra algorithm. The method specifically comprises the steps of creating a parking AGV running scene model; initializing all parameters of the algorithm; introducing a priority strategy to allocate tasks to a parking AGV; selecting different weights for different task attributes such as vehicle parking and pickup according to actual application demands, and improving a traditional Dijkstra algorithm based on different weights; applying the improved Dijkstra algorithm to conducting path planning on the parking AGV. According to the method, for the parking AGV, an optimal path from a starting point to a target point is searched for, and it is ensured that the AGV quickly and smoothly completes the tasks of vehicle pickup and parking without collisions according to different task demands within a short time. The method can be applied to path planning for vehicle parking and pickup of the parking AGV in a parking lot, it is ensured that the AGV safely and quickly completes vehicle pickup, the operation efficiency of the parking lot is improved, and the waiting time for a social worker to park and pick upthe vehicle is shortened.

Description

technical field [0001] The invention belongs to the technical field of AGV path planning, in particular to a parking AGV path planning method based on the improved Dijkstra algorithm. Background technique [0002] With the explosive growth of my country's car ownership and the extreme shortage of urban land, the problem of "difficult parking" is common in large and medium-sized cities in my country. How to efficiently and reasonably solve the parking problem has become an urgent problem to be solved in the construction of a smart city in the contemporary era. The smart parking lot based on the parking AGV can just solve this parking problem, using the parking AGV and dispatching system to realize the automation of vehicle access, and the most important part is the path planning method of the parking AGV. The purpose of studying the path planning method of intelligent parking AGV is: the system obtains the occupancy of each parking space and driving lane in the garage in rea...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223G05D1/0276
Inventor 戚湧倪艺慧高盼军
Owner NANJING UNIV OF SCI & TECH
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