A Path Planning Method for Automatic Guided Transport Vehicles in Dynamic Environment
A dynamic environment and automatic guidance technology, applied in navigation, surveying and navigation, navigation calculation tools, etc., can solve the problems of being unable to deal with dynamic environments and low search efficiency of A* algorithm
Active Publication Date: 2021-03-02
SHANGHAI INTERNATIONAL PORT +1
View PDF4 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
But the A* algorithm cannot handle the problem of dynamic environment
And in a complex environment, the search efficiency of the A* algorithm will become lower
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0037] Such as figure 1 , figure 2 , image 3 , Figure 4 with Figure 5 As shown, a method for planning the path of an automatic guided vehicle in a dynamic environment, the method for planning a path for an automatic guided vehicle in a dynamic environment comprises the following steps:
[0038] Step S1: Acquiring start point and end point information and dynamic environment information;
[0039] The AGV route planning method in a dynamic...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a path planning method for an automatic guided transport vehicle in a dynamic environment, which comprises the following steps: acquiring starting point and ending point information and dynamic environment information; utilizing the dynamic environment information, starting point and ending point information, and performing Dynamic environment modeling, constructing a grid environment map, and introducing time parameters to describe the grid environment map; constructing an A* algorithm based on time parameters; obtaining a path based on the A* algorithm based on time parameters as a planned path and outputting it to automatic guided transportation Che; The A* algorithm based on the time parameter is very fast in terms of speed, which is attributed to the fact that the algorithm searches for a two-dimensional grid map. Although it contains the time dimension, the number of grids it searches is the same as the static one. In terms of effect, when the environment is in a non-crowded state, the algorithm will not produce collisions, and it is more inclined to drive around when encountering obstacles. It is very suitable and safe for the scene of wharf cargo transportation.
Description
technical field [0001] The invention relates to the technical field of path planning, in particular to a path planning method for an automatic guided transport vehicle in a dynamic environment. Background technique [0002] Automatic guidance path planning problems generally deal with known and unknown environmental conditions. Many existing algorithms can solve its path planning problem, but for the path planning problem in a dynamic environment (moving obstacles), the algorithm cannot quickly solve the problem in this scenario, and the given planned route may collide. [0003] For example, the general A* algorithm combines the advantages of depth search and breadth search, so that the pathfinding algorithm can find a solution with a high probability while ensuring speed. But the A* algorithm cannot deal with the dynamic environment. And in a complex environment, the search efficiency of the A* algorithm will become lower. Contents of the invention [0004] In view of ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34G01C21/20
CPCG01C21/3407G01C21/3446G01C21/20G05D1/0214
Inventor 方怀瑾黄秀松吕长虹朱玥炜
Owner SHANGHAI INTERNATIONAL PORT