A path planning method for a four-way shuttle
A shuttle, path technology, applied in the direction of vehicle position/route/altitude control, motor vehicle, two-dimensional position/channel control, etc.
Active Publication Date: 2022-07-15
江苏智库智能科技有限公司
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Problems solved by technology
[0005] In order to solve the problems of map construction, cost function definition and optimal path calculation method in the prior art, the object of the present invention is to provide a method for path planning for four-way shuttle vehicles
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[0043] The present invention will be further described below with reference to the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present invention more clearly, and cannot be used to limit the protection scope of the present invention.
[0044] The invention mainly includes a map construction scheme for four-way shuttle running, a cost function setting scheme and a four-way shuttle path planning scheme.
[0045] like figure 1 As shown, it is an example of the map of the present invention to construct a four-way shuttle running. The map consists of three parts. The first part is the intersection nodes that can be reversed. For example, nodes 1, 2, 3, 5, and 6 are the intersection nodes. Node, the four-way shuttle can walk in four directions, up, down, left, right; the second part is the path segment where the four-way shuttle runs, and the path segment is composed of adjacent intersection nodes, as shown in the figure 1...
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The invention relates to a path planning method for a four-way shuttle. The nodes in the four-way shuttle three-dimensional warehouse that can travel in four directions are used as the intersection nodes, the cargo space for placing goods is the cargo position node, and the adjacent intersection nodes are used as the intersection nodes. The connecting line of the four-way shuttle is the path segment, and the operation map of the four-way shuttle vehicle is constructed; the intersection node where the four-way shuttle vehicle is currently located / the closest intersection node that can be reached by the path segment is the initial intersection node, and the intersection node / cargo space node where the target node is located is used as the initial intersection node. The closest intersection node reachable by the bound path segment is the target intersection node, and the running time of the four-way shuttle is used as the cost function. Plan your path. The invention proposes a dynamic tree data structure to build a map to reduce the time complexity of path algorithm calculation, configure the path feasibility and directionality, and is suitable for more application scenarios, and the path search algorithm has low time complexity.
Description
technical field [0001] The invention belongs to the technical field of automatic storage equipment and its control, in particular to a path planning method for a four-way shuttle. Background technique [0002] The logistics equipment mobile robot is a comprehensive intelligent system that integrates various functions such as environmental information perception, path planning, behavior control and execution. The path planning technology is one of the key technologies in the field of robotics research, it is the safety guarantee for the robot to complete the task, it is one of the signs of the robot's intelligence, and it is also an important combination point and research focus of artificial intelligence and robotics. . [0003] Since the 1970s, the problem of path planning has received extensive attention from many institutions and scholars at home and abroad, especially since the 1980s, experts and scholars in the fields of artificial intelligence, computer science, mathe...
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IPC IPC(8): G05D1/02
CPCG05D1/0217
Inventor 蔡传玉于静楠
Owner 江苏智库智能科技有限公司