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Improved AGV path planning algorithm based on grid map model

A path planning and grid map technology, applied in the field of computer algorithms, can solve problems such as local optimal solutions

Pending Publication Date: 2021-07-09
HOHAI UNIV
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  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to solve the defect that the existing AGV path planning is easy to fall into the local optimal solution, and propose an improved AGV path planning algorithm based on the grid map model

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  • Improved AGV path planning algorithm based on grid map model
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  • Improved AGV path planning algorithm based on grid map model

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Experimental program
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Embodiment Construction

[0016] The specific implementation plan of the whole method is mainly divided into four parts: environment model establishment, assessment and classification of ant colony, pheromone update and test.

[0017] The establishment of the spatial mobile environment model is the basis. The simple, easy-to-express and flexible grid method is used to simulate the honeycomb on the basis of the traditional grid to establish a regular hexagonal grid to segment the AGV driving environment. The honeycomb grid is improved on the basis of the traditional square grid, and uses regular hexagons to divide the driving environment. In this paper, the side length is established as A regular hexagon, the AGV can be regarded as the mass point moving between the centers of each hexagon in the grid. For places with obstacles, the corresponding value in the grid matrix will be assigned "1" and vice versa. 0". In the traditional square grid, the movement direction of the AGV is the eight grids adjace...

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Abstract

In a traditional automatic guided vehicle path planning research method, a map model based on a honeycomb grid shape is provided for solving the problem that simulation effect is poor due to the fact that most environment models are square grids, and aiming at the problems that efficiency is low and results are unstable when a traditional ant colony algorithm is used for solving a path planning problem , the invention provides an AGV path planning method based on an improved ant colony algorithm. The method comprises the following steps: firstly, carrying out model establishment on an environment by utilizing a honeycomb grid, and then obtaining a final path by using different pheromone updating rules according to evaluation of each ant and each iteration by using an improved ant colony algorithm. Experimental results show that the improved ant colony algorithm solves the problem that a traditional ant colony algorithm cannot achieve good convergence, and a shorter planning path can be obtained. The results are compared with the results of related literature algorithms, so that a better path acquisition effect can be obtained in the early stage of the algorithm and a better convergence effect can be obtained in the later stage of the algorithm by using the improved ant colony algorithm.

Description

technical field [0001] The invention relates to the field of computer algorithms, in particular to an improved AGV path planning algorithm based on a grid map model. Background technique [0002] Automated Guided Vehicle (AGV) first appeared in the 1950s. It is an intelligent automatic material handling equipment. It is characterized by high degree of automation, easy control, labor saving, improved transportation efficiency, and small footprint. etc. Therefore, AGV has been widely used in many manufacturing and logistics industries. In the automobile manufacturing industry, the application of automation equipment in the logistics field is the general trend. Using AGV to replace manpower can reduce the transportation cost of automobile manufacturing enterprises and improve service quality. For industries such as tobacco, medicine, food, and chemical industry, the industry has requirements for handling tasks such as cleanliness, no emission pollution, and safety, and AGV can...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0276
Inventor 冯子骁陈泽宇
Owner HOHAI UNIV