智能科学与技术学报2023，Vol.5Issue(4)：515-524,10.DOI:10.11959/j.issn.2096-6652.202304
基于A*与动态窗口法的物料传输平台路径规划研究
Research on path planning of material transmission platform based on A* and dynamic window method
摘要
Abstract
Due to the problems of traditional material transfer equipment such as single working mode and inflexible ad-justment of transfer path,intelligent material transfer system has gradually become a research hotspot in the field of logis-tics transmission.A path planning algorithm based on A* and dynamic window method was proposed for the modular ma-terial transmission platform,in order to improve its obstacle avoidance ability during the transfer process by flexibly ad-justing the material transfer path.In the global path planning,the smoothness and static obstacle avoidance of the trans-mission path were realized by improving the A* weight function and integrating the Bezier curve and matrix interference theory.And by introducing the dynamic window method and extracting the global path key points as transition points for local path guidance of the transmission target,dynamic obstacle avoidance was realized when the path falling into local optimization was avoided.The research results showed that the path planning algorithm based on A* and dynamic win-dow method could reduce the total global path length by 4.6%and the total path turning angle by 42.3%,while the dy-namic obstacles could be effectively avoided in the local planning,which verified the rationality of the path planning algo-rithm.关键词
路径规划/A*算法/动态窗口法/Bezier曲线/物料传输Key words
path planning/A* algorithm/dynamic window method/Bezier curve/material transmission分类
信息技术与安全科学引用本文复制引用
唐炜,谭啸,孙宇,严家鹏,严光锐..基于A*与动态窗口法的物料传输平台路径规划研究[J].智能科学与技术学报,2023,5(4):515-524,10.基金项目
江苏省重点研发计划重点项目(No.BE2016009) （No.BE2016009）
江苏科技大学专项实验设备研究项目(No.210813102001)Jiangsu Key R&D Plan Foundation of China(No.BE2016009),The Special Experimental Equipment Research Project of Jiangsu University of Science and Technology(No.210813102001) （No.210813102001）
