Research on Warehouse AGV Path Planning Based on Improved RRT-Connect Algorithm
In the warehousing environment,the RRT-Connect algorithm expands the path with many turning points and strong randomness.Combined with the improved artificial potential field algorithm idea,the repulsive potential field function is im-proved to increase the probability of the search tree expanding to the target point.Introduce the idea of Dijkstra algorithm to reconnect path nodes,optimize the path,and enhance the inspiration of the algorithm.Simulation experiments by MATLAB show that compared with the traditional RRT-Connect algorithm,in a simple storage environment,the improved RRT-Connect algorithm reduces the time consumption by 22.18％and the path length by 16.38％.In a complex storage environment,the improved RRT-Connect algorithm reduces the time consumption by 28.45％and 18.85％path length by.In different environ-ments,the numbers of path turning points are all reduced,and a better path can be generated to meet the work requirements in the warehousing environment and improve AGV sorting efficiency.
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维普
