AGV path planning method, storage medium and terminal

Abstract

The invention relates to an AGV path planning method, a storage medium and a terminal. The method comprises the steps of S1, obtaining a map, and setting the vertex angle of an obstacle in the map as a jump point; S2, carrying out path searching by utilizing an improved A* algorithm, and in the path searching process, if an expansion point comprises a jump point, moving the expansion point by one unit in the oblique direction of the jump point; S3, fitting the found path to obtain a fitting path; and S4, carrying out AGV path planning by using the fitting path. Compared with the prior art, the calculation amount can be reduced, the algorithm operation speed can be improved, and path planning can be rapidly and effectively realized.

Description

technical field

[0001] The invention relates to the field of path planning, in particular to an AGV path planning method, a storage medium and a terminal. Background technique

[0002] There are many path planning methods, and various methods emerge in endlessly. Various path planning algorithms are used in the path planning of AGV trolleys. For path planning in a known environment, existing technologies include artificial potential field method, Dijkstra algorithm, and path planning of BFS (Breadth First Search) algorithm. The artificial potential field method is to guide the AGV car to the end point through the combined force of the gravitational field and the repulsive field. Dijkstra's algorithm continuously searches the surrounding area through blind diffusion until the target point is found. The Best First Search (BFS) algorithm moves towards the target point, and changes the path when obstacles appear in the direction of travel.

[0003] In the traditional algorith...

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