摘要
在仓储环境下,RRT-Connect算法拓展路径转折点多,随机较强,针对这个问题,结合改进的人工势场算法思想,改进斥力势场函数,提升搜索树向目标点方向拓展的概率.引入Dijkstra算法思想重连路径节点,优化路径,增强算法的启发性.MATLAB软件仿真实验表明,相比传统RRT-Connect算法,在简单仓储环境下,改进RRT-Connect算法耗时减少22.18％,路径长度缩短16.38％;在复杂仓储环境下,改进RRT-Connect算法耗时减少28.45％,路径长度缩短18.85％.在不同的环境中,均减少了路径转折点的数目,能够生成一条更优的路径,满足仓储环境下的工作需求,提升AGV分拣效率.
Abstract
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.
维普
万方数据