电子科技2024，Vol.37Issue(7)：33-42,10.DOI:10.16180/j.cnki.issn1007-7820.2024.07.005
融合目标检测与DWA算法的AGV路径
Research on AGV Path Fusion of Object Detection and DWA Algorithm
摘要
Abstract
In view of the path planning and navigation problem when the AGV forklift is in the situation of un-known environment information or dynamic change of environment,a method is proposed to obtain the target position by YOLOv5(You Only Look Once version 5)target detection algorithm.The global basic path is planned according to the target location,and the method of AGV path planning and navigation is integrated with DWA(Dynamic Win-dow Approach)local dynamic path planning algorithm,so that the AGV forklift can quickly identify the target loca-tion and complete the path planning to reach the target location in the unknown environment or the environment with unknown local environment information.The experimental results show that compared with the previous method,the proposed method has good performance in terms of path length,time consumption and heading error of AGV forklift truck.The average path length is reduced by 12%,the average time consumption is reduced by about 5%,and the average error between the AGV heading and the target heading is within 5°.The proposed method can improve the working efficiency and flexibility of AGV forklift in unknown environment.关键词
AGV/YOLOv5/DWA算法/全局路径规划/局部路径规划/目标检测/导航/自动导引Key words
AGV/YOLOv5/DWA algorithm/global path planning/local path planning/target detection/navigation/automatic guidance分类
信息技术与安全科学引用本文复制引用
李筠,刘虎,杨海马,王原,徐文成,黄宏欣..融合目标检测与DWA算法的AGV路径[J].电子科技,2024,37(7):33-42,10.基金项目
中科院空间主动光电技术重点实验室开放基金(2021ZDKF4) （2021ZDKF4）
上海市科委科技创新行动计划(21S31904200,22S31903700)Open Fund of the Key Laboratory of Space Active Optoelectronic Technology of the Chinese Academy of Sciences(2021ZDKF4) （21S31904200,22S31903700）
Shanghai Municipal Commission of Science and Technology Innova-tion Action Plan(21S31904200,22S31903700) （21S31904200,22S31903700）
