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Forklift path planning method and device based on optimized D* algorithm

A path planning and optimal path technology, applied in two-dimensional position/channel control, vehicle position/route/altitude control, motor vehicles and other directions, can solve the problems of low path passing rate and unwalkable planned path, and achieve improved performance. The effect of passing rate, improving path passing rate, and efficient passing

Pending Publication Date: 2021-09-03
HENAN UNIV OF SCI & TECH
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Problems solved by technology

However, the effect of directly applying the D* algorithm to the path planning of intelligent forklifts is not good. There are often situations where the planned path cannot be driven, and the pass rate of the path is low.

Method used

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  • Forklift path planning method and device based on optimized D* algorithm
  • Forklift path planning method and device based on optimized D* algorithm
  • Forklift path planning method and device based on optimized D* algorithm

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Embodiment Construction

[0035] In order to make the objectives, technical solutions and advantages of the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0036] Device Embodiment:

[0037] The forklift path planning device based on the optimized D * algorithm based on this embodiment includes: an environmental perceive system and a controller. Among them, the environmental perception system arrangement on the truck Figure 4 , Figure 5 The sensors used by the environmental perception system include: multi-wire laser radar 1, master GPS2, a sub-GPS3, inertial measuring unit 4, and a spanning sensor 5. Among them, multi-wire laser radar 1 is mounted in the middle of the top of the forklift, and the distance from the forklift is equal, the sensor coordinate axis is in the direction of the forklift, and after the global coordinate system is established, this direction and global coordinate system horizontal axis The...

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Abstract

The invention provides a forklift path planning method and device based on an optimized D * algorithm, and belongs to the technical field of forklift path planning. The method comprises the following steps: establishing a current forklift surrounding environment map; planning a plurality of paths from the current position to the target position on the current forklift surrounding environment map by using a D * algorithm based on the limitation of the forklift kinematics model; on the map of the surrounding environment of the expanded forklift, screening the planned paths according to the principle that the paths are not intersected with the expanded obstacles and the path length is shortest; smoothing the screened path to obtain a current optimal path; controlling the forklift to run along the current optimal path, updating the map of the surrounding environment of the forklift in real time in the running process, and if a new obstacle appears on the current optimal path, planning the path again until the forklift reaches the target position. According to the method, the forklift path can be planned in real time in a dynamic environment, so that the forklift can efficiently pass through the planned path.

Description

Technical field [0001] The present invention relates to a forklift path planning method and apparatus based on optimizing D * algorithm, belonging to the technical field of forklift path planning. Background technique [0002] In recent years, automated warehousing and logistics delivery demand have been used in industrial enterprises, and the investment in intelligent forklifts has increased, and the intelligent forklift work is high, and the function of logistics is strong. The smart forklift will be in the work. It will be obstacted to avoid the obstacle to continue, and finally reach the target point, complete the transportation task. The path planning capabilities of the smart forklift determines whether it can be competent in a complex environment. [0003] The purpose of the path plan is to plan a collision path to the current position and the target position of the vehicle under certain constraints. For the path planning of drones, domestic and foreign scholars have propo...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0217G05D1/0221G05D1/0257
Inventor 高建平宋传杰郗建国吴延峰谢诏玺
Owner HENAN UNIV OF SCI & TECH
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