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AGV global path planning method and device and computer readable storage medium

A technology for global path planning and routing, applied in two-dimensional position/channel control, motor vehicles, transportation and packaging, etc.

Pending Publication Date: 2021-05-14
FOSHAN UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention provides an AGV global path planning method, device and computer-readable storage medium to solve one or more technical problems existing in the prior art, and at least provide a beneficial choice or create conditions

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  • AGV global path planning method and device and computer readable storage medium
  • AGV global path planning method and device and computer readable storage medium
  • AGV global path planning method and device and computer readable storage medium

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Embodiment Construction

[0043] The concept, specific structure and technical effects of the present application will be clearly and completely described below in conjunction with the embodiments and drawings, so as to fully understand the purpose, scheme and effect of the present application. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0044] refer to figure 1 ,Such as figure 1 Shown is an AGV global path planning method provided by the embodiment of the present application, the method includes the following steps:

[0045] Step S100, converting the planar map of the workshop into a grid map, and determining the grid type of each grid in the grid map;

[0046] Wherein, the grid type includes passages and obstacles, and each grid in the grid map is a square;

[0047] In an exemplary embodiment, if there is a passable area and a shelf in the planar map, the passable area is mark...

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Abstract

The invention relates to the technical field of AGV path planning, in particular to an AGV global path planning method and device and a computer readable storage medium. The method comprises the steps of converting a plane map of a workshop into a grid map, determining a starting point and an end point of an AGV in the grid map, and determining a planned path of the AGV in the grid map by adopting an A* algorithm, dividing the grid map into a plurality of grid blocks, determining the type of each grid block according to the size of the grid block, and determining the starting point and the end point of the AGV in each grid block according to the intersection position of the planned path and the grid block along the path direction, respectively obtaining a sub-path of the AGV in each grid block by adopting an A* algorithm, and connecting the sub-paths of all the grid blocks to form an improved path of the AGV in the grid map, and sequentially smoothing the paths between the spaced grids from the grid where the starting point of the improved path is located to obtain the final path of the AGV. The shortest planned path can be quickly and accurately determined on a large map or a fine map.

Description

technical field [0001] The present invention relates to the technical field of AGV path planning, in particular to an AGV global path planning method, device and computer-readable storage medium. Background technique [0002] AGV (Automated-Guided-Vehicle, automatic guided vehicle) is widely used in automated workshops. In actual transportation scenarios, reasonable path planning can allow intelligent robots to complete handling tasks quickly and accurately. [0003] Most of the existing path planning is only suitable for small and medium maps, but the time to plan an improved path on a large map or a fine map is not satisfactory, and it takes a long time. [0004] Therefore, it is urgent to provide a method that can quickly and accurately determine the shortest planned path on a large map or a fine map. Contents of the invention [0005] The present invention provides an AGV global path planning method, device and computer-readable storage medium to solve one or more tec...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0276
Inventor 肖红军古宗宝袁豪胡杰余显俊
Owner FOSHAN UNIVERSITY