联合D^*Lite算法与视觉的AGV路径规划与定位  

Joint D^*Lite Algorithm and Vision for AGV Path Planning and Location

作　　者：周祥明 陈员义 徐华银 ZHOU Xiangming;CHEN Yuanyi;XU Huayin(College of Aviation and Tourism,Jiangxi Teachers College,Yingtan 335000,China;College of Internet of Things,Jiangxi Teachers College,Yingtan 335000,China;Office of Teaching Affairs,Jiangxi Normal University,Nanchang 330000,China)

机构地区：[1]江西师范高等专科学校航空旅游学院,江西鹰潭335000 [2]江西师范高等专科学校物联网学院,江西鹰潭335000 [3]江西师范大学教务处,南昌330000

出　　处：《兵器装备工程学报》2020年第3期126-130,共5页Journal of Ordnance Equipment Engineering

基　　金：江西省教育厅科学技术研究项目(GJJ151354)。

摘　　要：针对AGV路径规划中采用遗传算法容易早熟和收敛慢,后期无法实现定点实时纠偏等问题,融合D^*Lite和量子风驱动算法,既可以有效克服局部最优问题,又可以改善路径的搜索效率、安全性及路径长度;最后采用自定义标识符法,辅助AGV实现精确定位,精度可以控制在±1 mm范围内,满足特殊点位精定位需求。In AGV path planning,genetic algorithm is easy to premature and is slow convergence,and it can not achieve fixed-point real-time deviation rectification in the later stage.The combination of D^*Lite and quantum wind-driven algorithm can not only effectively overcome the local optimum problem,but also improve the search efficiency,security and path length of the path.Finally,the user-defined identifier method was used to assist AGV to achieve precise positioning.The accuracy can be controlled within±1 mm range to meet the needs of precise positioning of special points.

关 键 词：AGV 路径规划 D^*Lite 量子风驱动 自定义标识符 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]