Dynamic route planning method of multi-AGV based on intelligent parking lot

A dynamic path and path planning technology, applied in two-dimensional position/channel control and other directions, can solve the problems of large space and the path planning algorithm can not meet the requirements well, and achieve the effect of collision prevention, efficient and reliable algorithm

Inactive Publication Date: 2019-05-17
CHONGQING UNIV
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Problems solved by technology

Compared with the flexible paths and large spaces in other places, the paths in the parking lot are relati

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  • Dynamic route planning method of multi-AGV based on intelligent parking lot
  • Dynamic route planning method of multi-AGV based on intelligent parking lot
  • Dynamic route planning method of multi-AGV based on intelligent parking lot

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Embodiment Construction

[0046] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0047] Such as figure 1 As shown, a kind of dynamic path planning method based on intelligent parking lot AGV described in the present invention, specifically comprises the following steps:

[0048] Step 1): Establish the K shortest path algorithm combining the A* algorithm and the Yen algorithm, and obtain the shortest path, second shortest path, ..., the Kth shortest path from the starting site to the target parking space as follows:

[0049] (1) A* algorithm: It is an efficient heuristic algorithm for solving the path between two points efficiently. Construct the objective function F(n) as follows:

[0050] F(n)=G(n)+H(n) (1)

[0051]Among them, n represents the nth node, G(n) represents the actual time from the starting point to node n, H(n) represents the estimated time from node n to the target node, and the movement of the path no...

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Abstract

The invention relates to a dynamic route planning method of multi-AGV (automatic guided vehicle) based on an intelligent parking lot, and belongs to the technical field of the route planning. The method specifically comprises the following steps: S1, establishing a K shortest path algorithm by combining an A* algorithm and a Yen algorithm, and solving the shortest route to a target parking space from a starting station; S2, establishing a dynamic time window model; S3, establishing a multi-AVG conflict type analysis mode, if the conflict is existent among multiple AGVs, analyzing different route planning methods for different conflict types; and S4, establishing the route planning algorithm for multiple AVGs based on the dynamic time window model and the multi-AGV conflict type analysis model. The location utilization efficiency of the traditional parking lot and the parking efficiency are improved, the running efficiency of each AGV vehicle is improved, the energy consumption of the AVG vehicle is reduced, and a beneficial path is provided for the realization of the intelligent parking lot.

Description

technical field [0001] The invention belongs to the technical field of path planning, and relates to a dynamic path planning method based on multiple AGVs in an intelligent parking lot. Background technique [0002] Today's world economy is developing rapidly, and there are more and more vehicles on urban roads, but the number of parking spaces is limited. As a result, parking becomes more and more difficult, and traffic becomes more and more congested. How to store more vehicles in a limited parking space has become a prominent problem in traffic. The emergence of Automated Guided Vehicle (AGV) has effectively improved this problem. You only need to park the vehicle at the designated location, and the AGV will automatically park the vehicle, so the path planning of the AGV in the parking lot can improve parking efficiency. Compared with flexible paths and large spaces in other places, the paths in the parking lot are relatively fixed and mostly crisscross, so the general...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 张艺潇张源鸿袁丹夫林景栋王扬
Owner CHONGQING UNIV
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