国防科技大学学报2024，Vol.46Issue(4)：104-113,10.DOI:10.11887/j.cn.202404011
货架下方可通行无人仓中多自动导引车系统的路径规划
Path planning of a multiple AGV system in unmanned warehouse with bottom passable shelves
摘要
Abstract
The multiple AGV(automated guided vehicle)system is prone to conflict,collision and deadlock in the process of carrying.Therefore,the A∗ algorithm was improved by introducing multi-valued grid and traffic rules to solve the path planning problem for the multiple AGV system in scenarios where there was passable space beneath shelves.To improve handling efficiency of the multiple AGV system,the planned path was optimized by adding shelf recall mechanism,turning cost and heat cost.A binary heap data structure was also used to improve calculation speed of the path planning.The simulation results show that the improved A∗ algorithm has the advantages of fast solution and strong deadlock resistance,and can quickly complete the path planning of multi-AGV system in this scenario.关键词
A∗算法/多自动导引车系统/交通规则/多值栅格/路径规划Key words
A∗ algorithm/multiple AGV system/traffic rule/multi-valued grid/path planning分类
信息技术与安全科学引用本文复制引用
杨洪玖,赵国威,李洪波,程富阳..货架下方可通行无人仓中多自动导引车系统的路径规划[J].国防科技大学学报,2024,46(4):104-113,10.基金项目
国家自然科学基金资助项目(61973230) （61973230）
