摘要
针对传统AGV路径规划算法难于在全局稳定性、收敛速度、局部搜索能力上取得均衡的问题,开展了基于改进Dijkstra算法的AGV路径规划研究。首先研究了基于栅格图的拓扑地图建模方法,分析了路径平滑度,然后提出了以时间权重为优化目标求解最优路径,改变了传统算法中路径长度作为权重因子,设计了弯道的时间权重函数,最后开发了集成多种算法的AGV路径规划仿真系统,并进行了对比分析。实验数据表明:相对其他算法,改进Dijkstra算法获得路径平滑度最好、时间权重最少,综合性能良好。
Aiming at the problem that the traditional AGV path planning algorithm is difficult to achieve equilibrium in global stability,convergence speed and local search ability,the AGV path planning research based on the improved Dijkstra algorithm is carried out.Firstly,the topological map modeling method based on grid graph is analyzed,and the path smoothness is described.Then,the time weight is proposed as the optimization objective to solve the optimal path,the path length in the traditional algorithm is changed as the weight factor,and the time weight function of the curve is designed.Finally,the AGV path planning simulation system integrating multiple algorithms is developed,and the comparative analysis is carried out.The experimental results show that the improved Dijkstra algorithm has the best path smoothness,the least time weight and good comprehensive performance compared with other algorithms.
作者
李全勇
李波
张瑞
姜涛
LI Quan-yong;LI Bo;ZHANG Rui;JIANG Tao(Technology Center,Inner Mongolia Yiji Group Lectra Rubber Products Co.,Ltd.,Baotou 014000,China;School of Mechanical Engineering,Hubei University of Arts and Science,Xiangyang 441053,China;School of Machinery and Automation,Wuhan University of Science and Technology,Wuhan 430081,China;Beijing Xinghang Mechanical&Electrical Equipment Co.,Ltd.,Beijing 100071,China)
出处
《机械工程与自动化》
2021年第1期23-25,28,共4页
Mechanical Engineering & Automation
基金
湖北省教育厅优秀中青年科技创新团队计划项目(T201919)。
