An improved multi-rrt path planning method and agv car based on fusion prediction

A path planning and trolley technology, applied in two-dimensional position/channel control, vehicle position/route/height control, instruments, etc., can solve the problems of high redundancy, large amount of calculation, low efficiency, etc., to improve calculation Efficiency, reducing difficulty, and speeding up the effect of convergence

Active Publication Date: 2022-05-10
杭州奇派自动化设备有限公司
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Problems solved by technology

On this basis, the multi-target path specification method based on RRT is proposed as the Multi-RRT method, but this method has a large amount of calculation, high redundancy, and low efficiency

Method used

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  • An improved multi-rrt path planning method and agv car based on fusion prediction
  • An improved multi-rrt path planning method and agv car based on fusion prediction
  • An improved multi-rrt path planning method and agv car based on fusion prediction

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Embodiment

[0061] Embodiment: an improved Multi-RRT path planning method of fusion prediction, such as figure 1 shown, including the following steps:

[0062] Step A: If figure 2 As shown, the position information of multiple AGV cars (intelligent logistics vehicles) and multiple target points is obtained, converted into a position matrix P, and the position information of multiple AGV cars is formed into a starting point set, and the starting point is selected from the starting point set to generate Plan the path; then regard different positions as different nodes, the possibility that the AGV car will select the next node position j at a certain position i is expressed as the transition probability between nodes, and traverse all the transition probabilities between nodes to form a transition probability matrix A;

[0063] Step B: Assuming that the matrix A is a symmetric matrix, then according to the non-negativity of the probability, the matrix A is a symmetric positive definite m...

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Abstract

The invention discloses an improved Multi-RRT path planning method and an AGV trolley based on fusion prediction. The invention generates a real-time optimal path instruction by improving the multi-objective path planning algorithm of Multi-RRT and sparse matrix, and at the same time sends the operation instruction to Intelligent logistics vehicles are executed by intelligent logistics vehicles. The present invention can be applied to multi-robot multi-object point collaborative work path planning scenarios such as intelligent logistics storage or intelligent factories. While retaining the randomness of path selection, it can speed up the convergence of the algorithm, especially suitable for scenarios with multiple sensor nodes in large open environments.

Description

technical field [0001] The invention relates to the technical field of path planning, in particular to an improved Multi-RRT path planning method and an AGV trolley based on fusion prediction. Background technique [0002] RRT is an efficient planning method in multidimensional space. It takes an initial point as the root node, and generates a random expansion tree by randomly sampling and adding leaf nodes. When the leaf nodes in the random tree contain the target point or enter the target area, you can find a path in the random tree by The path from the initial point to the goal point. On this basis, the multi-objective path specification method based on RRT is proposed as the Multi-RRT method, but this method has a large amount of calculation, high redundancy and low efficiency. Contents of the invention [0003] The object of the present invention is to provide an improved Multi-RRT path planning method and an AGV trolley based on fusion prediction. The invention im...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0221G05D1/0276
Inventor 董桂丽陆文婷李昊轩
Owner 杭州奇派自动化设备有限公司
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