Research on Autonomous Obstacle Avoidance Path Selection of AGV in Discrete Manufacturing Workshop
There are many division areas in discrete manufacturing workshops,resulting in complex workpiece transportation en-vironment,and automatic guided vehicle(AGV for short)is very prone to collision accidents.An autonomous obstacle avoidance path selection method of AGV in discrete manufacturing workshop is proposed.The discrete manufacturing workshop is divided into several grids by grid map method.Objective functions such as path length,angle sum,hazard rate and obstacle avoidance waiting time were constructed,and the multi-objective path planning evaluation function of AGV is established.The entropy weight method is used to determine the weight coefficients of each target,and the constraint conditions for AGV obstacle avoid-ance in dynamic environment are set.Through particle swarm optimization algorithm and pigeon swarm optimization algorithm,the AGV running path is jointly optimized,and the optimal path set is obtained.The path with the lowest evaluation value is taken as the running path of the AGV to realize the autonomous obstacle avoidance path selection of the AGV.The experimental results show that the AGV path selected by the proposed method is smoother,shorter and takes less time to plan.
NETL
NSTL
万方数据
维普
