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AGV path planning method, storage medium and terminal

A path planning and path finding technology, applied to road network navigators, navigation, instruments, etc., can solve problems such as increased calculation, redundant paths, and short path-finding intervals, so as to reduce time, increase operating speed, and avoid The effect of collision

Pending Publication Date: 2021-04-23
SHANGHAI DIANJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The best-first search (BFS) algorithm is not a blind search. It selects the point closest to the target point and continuously leads to the target point. Compared with the Dijkstra algorithm, the path-finding time is shorter, but there will be redundant paths.
[0004] The A* algorithm is a combination of the Dijkstra algorithm and the BFS algorithm, which can solve some of the shortcomings of the Dijkstra algorithm and the BFS algorithm. The A* algorithm keeps moving to the target point by constantly looking for the node with the smallest cost value in the path, but when the path is complex, The amount of calculation will increase

Method used

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  • AGV path planning method, storage medium and terminal
  • AGV path planning method, storage medium and terminal
  • AGV path planning method, storage medium and terminal

Examples

Experimental program
Comparison scheme
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Embodiment

[0043] This embodiment provides an AGV path planning method, such as figure 1 As shown, the method includes the following steps:

[0044] S1: Obtain the map, and set the vertex of the obstacle in the map as the jumping point;

[0045] S2: Use the improved A* algorithm to find the path. During the path finding process, if the extension point includes a jump point, move the extension point to the oblique direction of the jump point by one unit;

[0046] S3: Fit the found path to obtain the fitted route;

[0047] S4: AGV path planning using the fitted route.

[0048] in particular:

[0049] In S1, the map is first processed to find out eligible jump points around obstacles.

[0050] S2 is implemented through the OPEN linked list and the CLOESD linked list. S2 includes:

[0051] S21: Create an OPEN linked list and a CLOSED linked list, initialize the starting point and the target point, put the starting point into the OPEN linked list, and put the jump point into the CLOSED l...

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Abstract

The invention relates to an AGV path planning method, a storage medium and a terminal. The method comprises the steps of S1, obtaining a map, and setting the vertex angle of an obstacle in the map as a jump point; S2, carrying out path searching by utilizing an improved A* algorithm, and in the path searching process, if an expansion point comprises a jump point, moving the expansion point by one unit in the oblique direction of the jump point; S3, fitting the found path to obtain a fitting path; and S4, carrying out AGV path planning by using the fitting path. Compared with the prior art, the calculation amount can be reduced, the algorithm operation speed can be improved, and path planning can be rapidly and effectively realized.

Description

technical field [0001] The invention relates to the field of path planning, in particular to an AGV path planning method, a storage medium and a terminal. Background technique [0002] There are many path planning methods, and various methods emerge in endlessly. Various path planning algorithms are used in the path planning of AGV trolleys. For path planning in a known environment, existing technologies include artificial potential field method, Dijkstra algorithm, and path planning of BFS (Breadth First Search) algorithm. The artificial potential field method is to guide the AGV car to the end point through the combined force of the gravitational field and the repulsive field. Dijkstra's algorithm continuously searches the surrounding area through blind diffusion until the target point is found. The Best First Search (BFS) algorithm moves towards the target point, and changes the path when obstacles appear in the direction of travel. [0003] In the traditional algorith...

Claims

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 余旺旺刘军周杰
Owner SHANGHAI DIANJI UNIV
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