仓库多AGV双向通道路径规划研究
黄冠鹏 ( 山东科技大学 )
https://doi.org/10.37155/2972-4333-0310-36Abstract
为了应对多个AGV在运行过程中可能发生碰撞、死锁等影响运行效率的问题,在仓库的环境下,将实际 运行场景在Python环境下模拟为栅格图,使用改进A*算法进行路径规划,并采用双向通道设计,加入双向通行规则。 通过改进前后的运行效率对比,验证了改进A*算法和双向通道在减少搜索节点和防止绕AGV绕路方面的优越性。
Keywords
路径规划;AGV;A*算法;双向通道Full Text
PDFReferences
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版),2023,16(03):235-244.
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scheduling problem considering conflict-free AGV routing[J].
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Mob-ile Robots for Manufacturing[M].Gaithers-burg:U.
S.Deptartmet of Commerce,National In-stitute of Stan-dards
and Technology,2015.[4]Munadi M,Radityo Bagas,Ariyanto Mochammad,et al.
Automated guided vehicle (AGV) lane-keeping assist based
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AGV系统灵活高效死锁避免控制策略[J].机器人,2023,45
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[9]Liang,C.J.,Zhang,Y.,Dong,L.A Three Stage Optimal
Scheduling Algorithm for AGV Route Planning Considering
Collision Avoidance under Speed Control Strategy[J]
Mathematics.2022,11:138.
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