工程设计学报2017，Vol.24Issue(4)：440-448,9.DOI:10.3785/j.issn.1006-754X.2017.04.011
基于动态时间窗的泊车系统路径规划研究
Research on path planning of parking system based on dynamic time window
摘要
Abstract
To solve path planning problems of accessing cars by AGV (automated guided vehicle) in the intelligent lift parking garage ,the strategies of time-sharing use were utilized ,and a path planning method of parking system based on dynamic time window was proposed through effec-tively combining Dijkstra algorithm and time window .First of all ,the AGV having task was as-signed the priorities by the introduction of priority strategy .Then ,according to the task priority order ,Dijkstra algorithm was used to plan the shortest feasible path for the AGV having task . Finally ,on the basis of feasible AGV's path ,multiple AGV collision-free path planning was a-chieved by the method which contained time window initialization ,time window real-time update and real-time arrangement .To test and verify the feasibility and effectiveness of path planning al-gorithm of parking system based on dynamic time window ,the intelligent lift parking garage with four AGVs working at the same time was tested in the simulation experiment .The experi-mental results showed that the proposed method could solve some problems in the multiple AGV path planning ,which included poor flexibility ,easily arising deadlock conflict and collision con-flict ,etc .Furthermore ,the proposed method also could plan out a minimum-time optimal path for the AGV having task under the premise of effectively solving path conflicts .The results indi-cate that the method is correct ,feasible and effective ,and has a better robustness and flexible . Besides ,it can effectively improve the overall operating efficiency of the intelligent parking system and reduce waiting time for accessing cars .关键词
Dijkstra算法/时间窗/泊车系统/AGV/路径规划Key words
Dijkstra algorithm/time window/parking system/AGV/path planning分类
信息技术与安全科学引用本文复制引用
朱龙彪,王辉,王景良,邵小江,朱志慧..基于动态时间窗的泊车系统路径规划研究[J].工程设计学报,2017,24(4):440-448,9.基金项目
国家自然科学基金资助项目(51405246) （51405246）
江苏省产学研联合创新资金项目(BY2014081-07) （BY2014081-07）
南通市重点实验室项目(CP2014001) （CP2014001）
南通市应用基础研究 工业创新项目(GY12016006) （GY12016006）
