Parking system path planning method on the basis of improved ant colony algorithm

Abstract

The present invention discloses a parking system path planning method on the basis of an improved ant colony algorithm. The method comprises: creating an AGV operation environment model through adoption of a link visible graph; planning the initial path of the AGV from an origin to a terminal point based on a Dijkstra algorithm; performing optimization improvement of the ant colony algorithm through introduce of a node random selection mechanism and a maximin ant system and changing of a sociohormone update mode; and selecting the improved ant colony algorithm to optimize the initial path, and completing the parking system path planning method. The parking system path planning method on the basis of an improved ant colony algorithm is able to allow an AGV to effectively avoid a barrier and then find out an optimal path through fusion of an ant colony algorithm; and moreover, a mixed algorithm shows up a high global searching ability and a good convergence, so that the path search efficiency is improved, the search path length is shortened, the search path quality is improved, the parking land occupation area is small, and the purposes of large number of effective parking and the intelligence are achieved.

Description

technical field [0001] The invention belongs to the technical field of AGV path planning, and in particular relates to a path planning method for a parking system based on an improved ant colony algorithm. Background technique [0002] Since the beginning of the 21st century, my country's automobile industry and automobile consumer market have developed rapidly. Private cars are no longer a luxury in ordinary people's lives, but have gradually entered people's daily lives. The number of cars per capita is increasing year by year. The number of private cars owned by families continues to grow significantly, which has led to some cities being overcrowded with cars and seriously insufficient parking facilities. [0003] In order to solve the parking problem, the construction of the parking lot has been increased. The construction of the parking lot is divided into the following two types: the traditional flat garage and the mechanical garage; the traditional flat garage occupies...

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Problems solved by technology

[0003] In order to solve the parking problem, the construction of the parking lot has been increased. The construction of the parking lot is divided into the following two types: the traditional flat garage and the mechanical garage; the traditional flat garage occupies too large an area. It is unrealistic to build a large number of plane garages to solve the parking problem; the mechanical garage can effectively and reasonably use the space area, realize parking multiple cars in the same space, and can alleviate the parking problem to a certain extent, but the mechanical garage must be manned Operation and use, the equipment structure is complicated, there is no perfect locking and monitoring system, the failure rate is high, the car is also troublesome, and the practicability is poor

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