Research on AGV path planning algorithm for storage plant
A synchronous bidirectional Astar algorithm based on the optimization of an improved heuristic function in the search field is proposed to address the issue of the low efficiency of AGV trolley transportation in storage plants.Firstly,an appropriate heuristic function is selected,and the dynamic weighting approach is employed to minimize the redundant nodes during the process of traversing nodes.Secondly,the method of five-neighborhood search combined with a hash table and a binary heap is utilized to optimize the data structure of the openlist list,and a pair of openlist and closed list is added to transform the unidirectional search into a bidirectional one,thereby reducing the search time and enhancing the search efficiency.To tackle the problem of numerous inflection points and an unsmooth path,the method of applying the Bessel curve for path smoothing is put forward.Finally,a virtual warehouse factory model was developed using the Unity3D engine.Experiments were conducted within this virtual factory environment to demonstrate the advantages of this approach in terms of path length and search time.Furthermore,the AHP fuzzy comprehensive evaluation method is employed to assess the route quality of AGV trolleys within a virtual warehouse factory.This evaluation considers multiple perspectives,including safety,stability,and traffic efficiency.The aim is to verify the applicability,efficiency,and reliability of AGV trolley path planning under this storage model.Thus,it provides a reliable basis for the design,optimization,and decision-making of AGV logistics paths in factory warehouse logistics.
万方数据
维普
