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Path Planning Method for Parking AGV Based on Improved Dijkstra Algorithm

A path planning and algorithm technology, applied in vehicle position/route/height control, motor vehicles, two-dimensional position/channel control, etc., can solve the problems of limited AGV operation efficiency, achieve convenient assignment of tasks, and reduce waiting time Effect

Active Publication Date: 2022-03-01
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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  • Path Planning Method for Parking AGV Based on Improved Dijkstra Algorithm
  • Path Planning Method for Parking AGV Based on Improved Dijkstra Algorithm
  • Path Planning Method for Parking AGV 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 the improved Dijkstra algorithm. The specific steps are: create a parking AGV operation scene model; initialize the parameters of the algorithm; introduce a priority strategy to assign tasks to the parking AGV; select different weights for different task attributes (car storage, car pickup) according to the needs of actual applications, The traditional Dijkstra algorithm is improved based on different weights; the improved Dijkstra algorithm is used to plan the path of the parking AGV. This method searches for an optimal path from the starting point to the target point for the parking AGV, and ensures that the AGV can quickly and smoothly complete the vehicle access and parking tasks according to different task requirements in a short period of time. This method can be applied to the path planning of the parking AGV access car in the parking lot to ensure that the AGV completes the vehicle access safely and quickly, improves the operating efficiency of the parking lot and saves the waiting time for social personnel to access the car.

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...

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Application Information

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Patent Type & Authority Patents(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