科技创新与应用2024，Vol.14Issue(3)：16-20,5.DOI:10.19981/j.CN23-1581/G3.2024.03.005
基于危险斥力场的车间AGV挂接路径规划算法研究
摘要
Abstract
In order to realize the transportation of materials,Automated Guided Vehicles(AGV)needs to hook up the material truck through couplers and other devices.In the research of navigation algorithm of workshop AGV logistics vehicle,obstacle avoidance path planning has always been the focus of research.With reference to the artificial potential field method and the law of universal gravitation,the dangerous repulsion field is used to model the roads and obstacles in the connecting condition of the automatic navigation vehicle in the workshop.Considering the characteristics of slow driving of AGV,the linear two-degree-of-freedom dynamic model is selected to model the vehicle,and the constraint conditions in the connecting process of AGV are further analyzed.The"safest"with the least integral of dangerous repulsion field and the fast performance index are taken as the optimization target.The mathematical model of the optimal control problem is established and solved by Gaussian pseudospectral method.The solution results and simulation analysis verify the effectiveness of the algorithm,and the workshop AGV articulation path planning algorithm based on hazard repulsion field can plan a safe collision-free path.关键词
AGV/路径规划/势场法/伪谱法/危险斥力场Key words
AGV/path planning/potential field method/pseudo-spectral method/hazard repulsion field分类
交通工程引用本文复制引用
郭泉成,梁家强,李塬,徐润坤..基于危险斥力场的车间AGV挂接路径规划算法研究[J].科技创新与应用,2024,14(3):16-20,5.基金项目
广州市科技计划项目(202102080312) （202102080312）
