Aiming at the problem of low parking efficiency caused by turns and congestion in the process of AGV accessing vehicles in smart parking lot,the path planning algorithm based on dynamic road segment cost was proposed.Firstly,the concept of optimal direction was defined.Considering the position of the end-point relative to the start-point,the strategy of preferentially expanding the nodes in the optimal direction was set,which can prejudge the node search direction,reduce the number of turns and save the amount of calculation;Then,a function to dynami-cally adjust the cost of map sections according to the AGV conditions was set,which can accurately reflect the infor-mation of the occupied roads,heuristic idea and time window principle were introduced to avoid the congested roads with high cost when generating paths.The simulation shows that the algorithm can solve high-quality paths while sav-ing operation time,showing higher computational performance.The algorithm can meet the real-time calculation re-quirements of parking path and is suitable for AGV valet parking service.
关键词
智慧停车/自动导引车/路径规划/动态路段代价算法/最优方向
Key words
Intelligent parking/AGV/Path planning/Dynamic road segment cost algorithm/Optimal direction
维普
万方数据