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Improved AGV path planning method based on A* algorithm

A path planning and algorithm technology, applied in navigation calculation tools, two-dimensional position/course control, vehicle position/route/altitude control, etc., can solve the problems of program running time reduction and A* algorithm slow running speed

Pending Publication Date: 2020-09-25
NANJING UNIV OF SCI & TECH +2
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above existing problems, the present invention provides a new estimation heuristic function by analyzing the traditional A* algorithm, which improves the data structure and storage method of the traditional A* algorithm, and also improves the A* algorithm The solution is given for problems such as slow running speed, AGV failure or encountering obstacles, etc. The node expansion method is improved, and the program running time is also reduced. The algorithm runs fast, reduces the number of AGV turns, and is suitable for multiple AGVs AGV path planning method based on A* algorithm improvement, which also improves the operating efficiency of the entire storage system in the environment with obstacles

Method used

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  • Improved AGV path planning method based on A* algorithm
  • Improved AGV path planning method based on A* algorithm
  • Improved AGV path planning method based on A* algorithm

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Experimental program
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Effect test

Embodiment

[0086] Carry out 50 random experiments on the path planning of the traditional A* algorithm and the improved A* algorithm with the same starting node and ending node, record the experimental results and compare and analyze the following two situations: 1. The total path obtained by the two algorithms Whether the length is consistent; 2. Whether the total inflection points of the paths obtained by the two algorithms are the same.

[0087] As shown in Table 3 below, it is a test case of the path planning of the traditional A* algorithm and the improved A* algorithm.

[0088] Table 3 Test cases with different inflection points of the two planning algorithms

[0089]

[0090]

[0091] The test results in both cases are attached Figure 5 And attached Figure 6 shown, by attaching Figure 5 It is found that the total length of the path obtained by the two algorithms is the same, and by attaching Figure 6 It is found that the total number of inflection points of the path pl...

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Abstract

The invention discloses an improved AGV path planning method based on an A* algorithm. The method comprises the steps of improving an estimation heuristic function of the A* algorithm, improving a data structure and a storage mode of the A* algorithm, improving an expansion mode of nodes of the A* algorithm, and improving a solution for AGV motion obstacle encountering in the A* algorithm. The invention relates to the technical field of AGV path planning. Specifically, the invention provides a method for analyzing a traditional A* algorithm. A new estimation heuristic function is provided; thedata structure and the storage mode of the traditional A* algorithm are improved; the operation speed of the A* algorithm is low; a solution is provided for the problem that the AGV breaks down or encounters an obstacle and the like; the extension mode of nodes is improved, the program operation time is shortened, the algorithm operation speed is high, the AGV steering frequency is reduced, the AGV path planning method is suitable for multiple AGVs and the environment with obstacles, and the operation efficiency of the whole warehousing system is improved.

Description

technical field [0001] The invention relates to the technical field of AGV path planning, in particular to an improved AGV path planning method based on the A* algorithm. Background technique [0002] At present, with the development of medical informatization, more and more automated equipment is connected to the hospital information system, making medical services more standardized and efficient. The emergence of intelligent pharmacies, combined with the advantages of automation equipment and computer technology in the fields of data analysis and processing, can effectively improve the work efficiency of pharmacy staff, shorten the time for patients to take medicine, and strengthen the information management of hospitals. Among them, the warehousing management of the pharmacy is an important part of the intelligent pharmacy. Its main function is to complete the storage of drugs and realize the management of drug information to improve the overall efficiency of medical work...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01C21/20
CPCG05D1/0214G01C21/206
Inventor 杜振华王阳李宋顺黄炎焱周俊玮乔心路何新
Owner NANJING UNIV OF SCI & TECH
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