Intelligent logistics path planning method and system

Abstract

The invention discloses an intelligent logistics path planning method and system. The method comprises the following steps: acquiring environment information and establishing a map according to the acquired environment information; representing the map through a two-dimensional array and rasterizing the map; setting the starting point, terminal point and speed change rate of the robot and the starting point, terminal point, coordinate axis speed change, safety distance and threat distance of the obstacle; performing global path planning according to an A*algorithm in combination with a heuristic function to obtain a global optimal path; and according to the global optimal path, in the moving process of the robot, performing dynamic obstacle judgment, if the robot encounters a dynamic obstacle, planning the path again, and if the robot does not encounter the dynamic obstacle, completing path planning. The system comprises a map establishment module, a map preprocessing module, a map initialization module, a global path planning module and a local dynamic obstacle avoidance module. According to the invention, path planning from the starting point to the terminal point can be completed, and dynamic obstacles can be automatically avoided in the moving process.

Description

technical field [0001] The invention relates to the technical field of robot path planning, in particular to an intelligent logistics path planning method and system. Background technique [0002] In the past 20 years, the rapid development of e-commerce in China has greatly changed people's life style. More and more people choose to buy the items they need on the e-commerce platform, and people's consumption needs are increasingly reflecting the characteristics of "multiple varieties, short cycle, and small quantity". The resulting large number of express parcel sorting tasks can only be completed by stacking manpower overtime. With the growth of people's consumption desires, companies need to pay more for manpower in order to maintain high customer satisfaction. [0003] The status quo of my country's labor force is still difficult to undergo substantial changes in the short term. The substantial increase in labor costs is undoubtedly a hidden worry for labor-intensive l...

AI Technical Summary

Problems solved by technology

Although the positive feedback makes the algorithm have a faster convergence speed, if the optimal solution obtained by the algorithm at the beginning is a suboptimal solution, then the positive feedback will make the suboptimal solution dominant, so that the algorithm falls into a local optimum and is difficult to jump out, eventually leading to the planning The resulting path is not the optimal path and there are a large number of turning points. Such a path needs to be further smoothed to meet the actual requirements.

Therefore, how to solve the ubiquitous problems in the field, such as the unsatisfactory obstacle avoidance effect and the inability to plan the optimal path when the operating environment of the robot car is relatively complex, is a problem urgently needed to be solved by those skilled in the art.

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