Parking AGV path planning method based on improved ant colony algorithm

An ant colony algorithm and path planning technology, applied in vehicle position/route/height control, motor vehicles, vehicle parts, etc., can solve problems such as increasing task completion time

Inactive Publication Date: 2020-06-16
NANJING UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

On the other hand, some paths with the same distance have

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  • Parking AGV path planning method based on improved ant colony algorithm
  • Parking AGV path planning method based on improved ant colony algorithm
  • Parking AGV path planning method based on improved ant colony algorithm

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Embodiment Construction

[0088] The present invention will be further described below in conjunction with the accompanying drawings of the description.

[0089] The invention discloses a parking AGV path planning method based on an improved ant colony. figure 1 It is a schematic diagram of AGV passing node i, where (a) is AGV passing node i in a straight line, and (b) is AGV turning and passing node i. figure 2 It is a schematic diagram of AGV passing node i to node j, where (a) is AGV passing through node i to j in a straight line, and (b) is AGV turning and passing node i to j. image 3 For the overall flowchart of the present invention's implementation, the specific content includes the following steps:

[0090] 1. Environment modeling, the steps are as follows:

[0091] ⑴: The parking lot environment where the parking AGV operates is abstracted into a weighted connection network G(V, E, W based on the topology method ij ), where V represents the set of edges composed of two connected nodes, E ...

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Abstract

The invention discloses a parking AGV path planning method based on an improved ant colony algorithm. The method comprises the following steps of: 1) modeling a parking environment, 2) initializing system parameters, 3) improving a pheromone updating strategy, 4) improving heuristic information strength, and 5) using an improved ant colony algorithm for path planning on the parking AGV. Accordingto the method, a time optimal path from a starting point to a target point is provided for searching of the parking AGV, and an AGV system is ensured to accurately and rapidly complete vehicle storing, taking and parking tasks in a short time.

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 an improved ant colony algorithm. Background technique [0002] The smart parking lot based on the parking AGV (Automated Guided Vehicle) uses robots to park autonomously. When the car needs to be stored, the owner only needs to park the car at the entrance of the garage, and then leave, and then the parking AGV will move the vehicle to the parking lot. bit. When the car needs to be picked up, the owner only needs to place a pick-up request on the client terminal, and the parking AGV can move the car from the garage to the exit of the garage. The above whole process of depositing and picking up the car greatly saves the time of the parking staff, and alleviates the static traffic problem simultaneously. AGV path planning is a very important issue in the parking AGV system. The system obtains the usage of parking spaces and l...

Claims

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Application Information

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IPC IPC(8): G01C21/34G05D1/02
CPCG01C21/3446G05D1/0214G05D1/0212G05D1/0287G01C21/34B62D15/0285G05D2201/0216
Inventor 戚湧倪艺慧
Owner NANJING UNIV OF SCI & TECH
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