An improved AGV autonomous obstacle avoidance path planning algorithm based on artificial potential field algorithm and its application
To find the optimal path and avoid obstacles for AGV in the operation of corrugated paper packaging workshops, this paper proposes an improved autonomous obstacle avoidance path planning algorithm based on artificial potential field algorithm.First, the relative distance between the destination and AGV is added to the repulsive function, and a gradient is established for the gravitational function to solve the problem of unreachable targets caused by the proximity of the destination to obstacles.Second, virtual obstacles are added near the local minimum to assist AGV in escaping from the local minimum region.Finally, the path searched is smoothed by second-order Bézier curve to ensure the path feasibility of AGV.Our comparisons and simulation experiments show the improved artificial potential field method efficiently plans the collision-free path of AGV in different packaging workshops, demonstrating its practicality and effectiveness in obstacle avoidance path planning of AGV in the packaging workshop environment.
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