Path planning method and device, electronic equipment and medium

Abstract

The invention provides a path planning method and device, electronic equipment and a medium. According to the method, after the passing times of each directed path in a shuttle vehicle path network in current path planning are obtained, conflict prediction is carried out on each directed path by adopting a path conflict prediction algorithm based on the passing times of each directed path, and a path conflict coefficient corresponding to each directed path is obtained; on the basis of the path conflict coefficient, a distance matrix between nodes in the shuttle vehicle path network in the previous planning period is updated, and an updated distance matrix is obtained; and the updated distance matrix is traversed by adopting a preset path planning algorithm, and the driving path of the shuttle vehicle in the current planning period is determined. According to the method, the problem of path conflict of multiple shuttle vehicles is solved, the path with few conflicts and few turns is found out on the basis of considering the path of the shuttle vehicle executing a task, and stable and efficient operation of the whole cross-roadway multi-layer shuttle vehicle warehousing system is guaranteed.

Description

technical field [0001] The present application relates to the technical field of data processing, in particular, to a path planning method, device, electronic equipment and media. Background technique [0002] With the diversification and complexity of business types in logistics centers, four-way shuttles have gradually entered people's field of vision as a new automated storage technology. As an upgraded version of the multi-storey shuttle, the four-way shuttle can realize multi-directional driving, high efficiency across lanes, flexible operation, and maximized space. In recent years, more and more four-way shuttles have been successfully applied, but they still have high difficulty and research value in control scheduling and path search algorithms. [0003] The Tier-to-tier and aisle-to-aisle shuttle-based storage and retrieval system (TTAASBS / RS) is a fast access and retrieval system developed on the basis of the cross-tier shuttle storage system. system, it mainly r...

AI Technical Summary

Problems solved by technology

In recent years, more and more four-way shuttles have been successfully applied, but they still have high difficulty and research value in control scheduling and path search algorithms.

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