多AGV系统的动态路径规划算法  

Algorithm of Dynamic Path Planning for Multiple AGV System

作　　者：蓝志坤[1,2] 蓝志环[3] 

机构地区：[1]长春大学机械与车辆工程学院,长春130022 [2]吉林大学交通学院,长春130022 [3]空军航空大学航空军械工程系,长春130022

出　　处：《公路交通科技》2012年第10期121-125,共5页Journal of Highway and Transportation Research and Development

基　　金：吉林省科技厅项目(20010326)

摘　　要：重点研究针对多AGV在物流系统中路径的规划存在规划不灵活、容易出现死锁问题,提出一种动态路径规划算法。该算法主要是采用基于连接特性算法全局规划、动态局部调整相结合方法,解决多AGV系统运行过程中空间和时间的冲突,实现AGV系统运行时间最短的最优规划目标,使多AGV在物流系统中能快速有效地完成工作。通过仿真和试验对规划算法进行验证。仿真和试验结果表明:该方法在物流系统实现全局最优规划,有效提高系统效率。避免了在线路径搜索带来的运算负担,解决目前多AGV系统路径规划不灵活、容易出现冲突的问题。该算法能够精确规划出空间、时间上未出现冲突的最短路径,满足试验的要求且算法运行可靠。In order to solve the problem of inflexibility and deadlock during multiple AGV path planning for logistics system, a kind of dynamic path planning algorithm was put forward. The algorithm mainly adopts the combination of global planning based on connectivity algorithm and part dynamic adjustment to solve the space and time in multiple AGV system and realize the object of the shortest running time of AGV system for fast and effective operation in logistics system. The algorithm of planning was verified by simulation and experiments. The result of simulation and experiment shows that （ 1 ） the method can complete optimal global path planning and improve the system efficiency; （2） the algorithm avoided running loading in searching the shortest path in system, solved the inflexibility and conflict in multiple AGV path planning; （3） the algorithm can accurately plan the shortest path without conflict in place and time, it can meet the need of experiment and runs reliable.

关 键 词：交通工程 自动导航车辆 动态路径规划 基于连接特性算法 全局规划 局部死锁 

分 类 号：U491.123[交通运输工程—交通运输规划与管理]