多帧时间窗轮换算法规划仓储多AGV小车路径  

Multi-frame TimeWindow Rotation Algorithm to Plan Storage Multiple AGV Car Path

作　　者：陈广锋[1] 余立潮 CHEN Guangfeng;YU Lichao(School of Mechanical Engineering,Donghua University,Shanghai 201620,China)

机构地区：[1]东华大学机械工程学院,上海201620

出　　处：《计算机工程与应用》2020年第23期270-278,共9页Computer Engineering and Applications

基　　金：国家重点研发计划重点专项(No.2017YFB1304000)。

摘　　要：针对在仓储环境中多AGV小车的路径规划问题,提出一种基于多帧时间窗轮换算法。所提算法运用A*寻路算法进行全局路径规划,得到多AGV小车的初始路径离散点的集合。通过在仓储环境岔路口设置多帧时间窗切换阈值,将小车的全局路径点集离散成多帧小窗体,在每个小窗体建立凸集特征最优目标障碍函数,引入小车的运动学约束和防碰撞最优超平面约束,将小车的各种约束参数化为多项式B样条曲线形式,采用牛顿迭代融合回溯直线法更新步长,解决下一帧时间窗多项式B样条曲线控制点的更新问题。最后通过实验测试表明,在满足所有约束的情况下实现多AGV小车的路径规划。Aiming at the path planning problem of multi-AGV cars in storage environment,a multi-frame time window rotation algorithm is proposed.The proposed algorithm uses the A*pathfinding algorithm to perform global path planning,and obtains the set of discrete points of the initial path of the multi-AGV car.By setting the multi-frame time window switching threshold in the warehouse environment intersection,the global path point set of the car is discretized into a multi-frame small form,and the convex target feature optimal target obstacle function is established in each small form.Introducing and the kinematics of the car and anti-collision optimal hyperplane constraints,the various constraints of the car are parameterized into a polynomial B-spline curve form,and the step size is updated by the Newton iterative fusion retrospective straight line method to solve the polynomial B-spline curve control point of the next frame time window.Finally,experimental tests show that the path planning of the multi-AGV car is realized with all constraints.

关 键 词：多自动引导车辆(AGV) 路径规划 最优超平面约束 多帧时间窗轮换 B样条曲线 

分 类 号：TH218[机械工程—机械制造及自动化]