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AGV robot path planning method and system based on improved search algorithm

A search algorithm and path planning technology, applied in control/regulation systems, instruments, motor vehicles, etc., can solve the problems of large search memory consumption, unconsidered paths, and low efficiency, so as to reduce node expansion, improve efficiency, and reduce algorithms inefficient effect

Active Publication Date: 2021-10-08
FUZHOU UNIV
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

However, the existing search-based algorithms still have problems such as high memory consumption, low efficiency, and the path does not consider the difficulty of robot execution in large scene paths.

Method used

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  • AGV robot path planning method and system based on improved search algorithm
  • AGV robot path planning method and system based on improved search algorithm
  • AGV robot path planning method and system based on improved search algorithm

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Embodiment Construction

[0040] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0041] It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0042]It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinat...

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Abstract

The invention relates to an AGV robot path planning method and system based on an improved search algorithm, wherein the method carries out path search based on the search algorithm by adopting a bidirectional iteration mode, that is., the iterative search is started from a starting point and an end point until the bidirectional search converges, wherein the bidirectional search adopts different heuristic functions, and bidirectional search is prevented from being interfered by a same environmental factor; and key node extraction is carried out on the obtained series of path track nodes, and path information is formed and output. The method and the system are favorable for improving the path searching efficiency.

Description

technical field [0001] The invention belongs to the field of robot navigation planning, and in particular relates to an AGV robot path planning method and system based on an improved search algorithm. Background technique [0002] AGV is an unmanned logistics vehicle, which belongs to the intelligent mobile robot. According to the instructions issued by the host computer, the location and environmental information can be determined through the on-board sensors, and according to the pre-designed program, it can automatically drive along the planned route and stop at the designated location. It has functions such as automatic obstacle avoidance and navigation, which greatly liberates Labor force, improving transportation efficiency. At the same time, its relatively complete safety protection and navigation obstacle avoidance functions combined with intelligent dispatching management have greatly improved the safety and reliability of industrial logistics transportation, and t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0276G05D1/0219
Inventor 林有希邹凛浩林雨青蔡建国李凡钟礼阳
Owner FUZHOU UNIV
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