基于冲突搜索的多AGV路径规划
Multi-AGV Path Planning Based on Conflict Search
魏胜利 1张涛1
作者信息
- 1. 安阳工学院 计算机科学与信息工程学院,河南 安阳 455000
- 折叠
摘要
为实现仓储环节的自动化操作,对多AGV路径规划进行了研究,使用栅格地图法构建地图环境,以单路径A*搜索算法为基础,采用双层路径规划的冲突搜索算法解决多AGV路径冲突问题.具体实施方法是在高层进行冲突检测和添加约束,在底层使用A*算法进行单路径规划.最后使用Python的matplotlib库编程对路径规划算法进行仿真.仿真结果表明,该课题所使用的规划方法行之有效.
Abstract
In order to achieve automated operations in the warehousing process,research is conducted on multi-AGV path planning.A grid map method is used to construct a map environment,and based on the single path A* search algorithm,a conflict search algorithm for dual layer path planning is adopted to solve the multi-AGV path conflict problem.The specific implementation method is to perform conflict detection and constraint addition at the upper level,and A* algorithm is used at the lower level for single path planning.Finally,it uses Python's matplotlib library programing to simulate the path planning algorithm.The simulation results indicate that the planning method used in this project is effective.
关键词
路径规划/CBS算法/A*算法/AGV/栅格地图Key words
path planning/CBS algorithm/A* algorithm/AGV/grid map引用本文复制引用
基金项目
安阳市科技发展计划(2022C01SF117)
安阳工学院科研项目(YPY2022011)
出版年
2024
国家科技期刊平台
NSTL
万方数据