Distributed multi-AGV collision-free path planning method based on improved A* algorithm

A path planning and distributed technology, applied in road network navigators, navigation, instruments, etc., can solve management center management and calculation pressure bottlenecks, and achieve the effect of solving conflicts and reducing the number of turns

Active Publication Date: 2021-05-25
PEKING UNIV
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However, as the scale of the system expands, the management and computing pres...

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  • Distributed multi-AGV collision-free path planning method based on improved A* algorithm
  • Distributed multi-AGV collision-free path planning method based on improved A* algorithm
  • Distributed multi-AGV collision-free path planning method based on improved A* algorithm

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[0032] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0033] The invention provides a distributed multi-AGV collision-free path planning method based on the improved A* algorithm. By establishing a resource scheduling strategy in the logistics system and an AGV transport vehicle path planning method, multiple AGVs can be achieved with the shortest time as the goal. The conflict-free and efficient operation of AGVs avoids collisions and deadlocks, reduces the number of turns as much as possible, and cooperates to complete the sorting task. figure 2 Shown is the process flow of the distributed multi-AGV collision-free path planning method based on the improved A* algorithm proposed by the present invention. The specific implementation includes the following steps:

[0034] Step 1. Use the grid...

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Abstract

The invention discloses a distributed AGV collision-free path planning method based on an improved A* algorithm. The method comprises the steps of carrying out path planning through employing the improved A* algorithm, carrying out the collision processing through employing a grid density method, enabling a plurality of AGVs to achieve the efficient operation with the shortest time as a target through building a resource scheduling method, and solving the conflict and deadlock. Meanwhile, the turning frequency is reduced, and the sorting task is cooperatively completed.

Description

technical field [0001] The invention belongs to the technical field of multi-agent path planning, and relates to a distributed automatic sorting task path planning technology for multiple automated guided vehicles (AGV for short) in a logistics system, in particular to a method based on an improved A* algorithm. Distributed multi-AGV collision-free path planning method. Background technique [0002] Logistics speed, logistics service, and logistics cost have a major impact on online consumers' purchase stage. When consumers finally decide to purchase goods, they consider logistics factors most. Logistics speed has a positive impact on consumers' willingness to pay, and delivery speed is more valued by consumers. It is meaningful for e-commerce logistics service companies to pay attention to delivery speed. With the continuous development of e-commerce and the prevalence of technologies such as the Internet of Things and automation, logistics has gradually moved from traditi...

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 程翔都圆圆
Owner PEKING UNIV
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