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Intelligent warehouse logistics robot path planning method based on L-shaped path trend improved A-STAR algorithm

A logistics robot and path planning technology, which is applied in the direction of instruments, motor vehicles, and two-dimensional position/channel control, etc., can solve the problems of mobile robots with many broken lines, large cumulative turning angles, and many turning times, so as to reduce the number of turning times , short running time, and the effect of reducing the turning angle

Active Publication Date: 2021-12-10
LONGYAN UNIV
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Problems solved by technology

However, the path of the mobile robot planned by the A-STAR algorithm has problems such as many broken lines, many turning times, and large cumulative turning angles.

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  • Intelligent warehouse logistics robot path planning method based on L-shaped path trend improved A-STAR algorithm
  • Intelligent warehouse logistics robot path planning method based on L-shaped path trend improved A-STAR algorithm
  • Intelligent warehouse logistics robot path planning method based on L-shaped path trend improved A-STAR algorithm

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Embodiment Construction

[0025] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0026] The path of the mobile robot planned by the A-STAR algorithm in the prior art has problems such as many broken lines, many turning times, and a large cumulative turning angle. The intelligent warehousing environment is very different from the general robot working environment. In the warehousing environment, the feasible space of the logistics robot is limited, and the shape of the obstacle is regular. Therefore, the path planning of the logistics robot in the intelligent warehousing environment is different from that of the general mobile robot.

[0027] Such as Figure 1 to Figure 4 As shown in one of the present invention, the present invention di...

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Abstract

The invention discloses an intelligent warehouse logistics robot path planning method based on an L-shaped path trend improved A-STAR algorithm, and the method comprises the steps: carrying out the optimization through a path trend identifier according to a principle that a local path is consistent with a path trend formed by S and T as much as possible after an initial path is planned through the A-STAR algorithm; in the local path, when three adjacent nodes k-1, k and k+1 form an L-shaped link, judging whether the L-shaped link is matched with the current L-shaped path trend identifier or not, if so, judging whether a diagonal node D of a middle node k of the local link is an obstacle or not, and if not, replacing the node k with the diagonal node D. According to the L-shaped path trend improved A-STAR calculation method provided by the invention, the turning frequency and the accumulated turning angle of a local path in path planning of the intelligent warehouse logistics robot can be effectively reduced at a small algorithm running time cost.

Description

technical field [0001] The invention relates to the technical field of intelligent warehousing, in particular to a path planning method for an intelligent warehousing logistics robot based on an improved A-STAR algorithm for an L-shaped path trend. Background technique [0002] Path planning is an important link in the navigation process of logistics robots. Logistics robots are a type of mobile robots. Path planning for mobile robots means that the robot plans a non-collision, safe and feasible path from the starting point to the end point based on environmental information, and optimize the path as much as possible [1] . Common methods for robot path planning include visual graph method, artificial potential field method, A-STAR algorithm, artificial intelligence algorithm, etc. The A-STAR algorithm is an extension of Dijikstra's algorithm, which utilizes equal-cost search and heuristic search to efficiently compute the best-first search, using less time [2] . However,...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0219
Inventor 林俊陈江南卢艺智王坤郑发炫黄辉煌
Owner LONGYAN UNIV
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