融合LPA*和DWA算法的导向辊生产车间AGV组合路径规划方法研究
A Combined Path Planning Method Based on LPA* and DWA Algorithms for AGV in the Guided Roller Production Workshop
刘嘉琪 1刘善慧 1任慧冉 1陈宇宏 2季海阳1
作者信息
- 1. 西安理工大学,陕西西安,710048
- 2. 富联精密电子(郑州)有限公司,河南郑州,450000
- 折叠
摘要
针对造纸类机械的导向辊生产线存在的多车间室内外导航精度不足、多车间运输通道共用、单车间产线交叉等问题,提出了融合LPA*和DWA算法的导向辊生产车间自动引导车(Automated Guided Vehicle,AGV)组合路径规划方法.首先建立了AGV本体运动模型和导向辊生产车间模型;然后提出了局部与全局组合的路径规划方法,采用LPA*算法进行全局路径规划解决了全局最优路径的问题,采用DWA算法进行局部路径规划解决了避障问题;最后通过实验验证将本研究提出的组合路径规划算法与传统路径规划算法对比,组合路径规划算法较大缩短了路径搜索的时间,效率更高.
Abstract
Aiming at the challenges of indoor and outdoor navigation,shared transportation channels in multiple workshops,and cross-inter-sections in single workshop production lines of the papermaking machinery guided roller production line,a combined path planning method for Automated Guided Vehicle(AGV)in the guided roller production workshop by integrating LPA* and DWA algorithms was proposed.Firstly,the AGV's motion model and the guided roller production workshop model were established.Then,a combined path of local and global path planning method was proposed,where LPA* algorithm was utilized for global path planning to address the issue of finding the global optimal path,and DWA algorithm was employed for local path planning to tackle the obstacle avoidance problem.Finally,experimen-tal verification demonstrated that the proposed combined path planning algorithm significantly reduced the search time for paths compared to traditional path planning algorithms,resulting in higher efficiency.
关键词
造纸类机械/导向辊生产车间/AGV/路径规划Key words
papermaking machinery/guided roller production workshop/AGV/path planning引用本文复制引用
基金项目
国家重点研发计划课题(2019YFB1707204)
渭南市重点研发计划项目(ZDYFJH-108)
出版年
2024
国家科技期刊平台
NSTL
万方数据