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作 者:黄令苇 全燕鸣[1] 王荣辉 HUANG Ling-wei;QUAN Yan-ming;WANG Rong-hui(School of Mechanical&Automotive Engineering,South China University of Technology,Guangzhou 510641,China)
机构地区:[1]华南理工大学机械与汽车工程学院,广州510641
出 处:《自动化与仪表》2021年第1期45-48,共4页Automation & Instrumentation
摘 要:针对自动导引车(AGV)的路径规划安全性问题,提出了一种安全A*算法。引入凸走廊的概念,根据地图中的每一个搜索点计算对应的凸走廊;根据凸走廊的宽度,以该点为中心建立一个方形安全区域,减小障碍物的搜索范围;通过计算安全区域中搜索点到最近障碍物的距离,在代价函数中添加该搜索点到障碍物的代价值,得到远离障碍物的路径。经试验验证,所提算法能有效使AGV运行时远离障碍物,保证运行安全,能提高AGV执行任务的速度,提升工作效率。Aiming at the safety problems of automatic guided vehicle(AGV)in path planning,this paper proposes a safe-A*algorithm.The concept of convex corridor is introduced.The concept of convex corridor is introduced,and the corresponding convex corridor is calculated according to each search point in the map;according to the width of convex corridor,a square safety area is established with the point as the center to reduce the search range of obstacles.By calculating the distance from the search point to the nearest obstacle in the safe area,and adding the cost value of the search point to the obstacle in the cost function,the path away from the obstacle can be obtained.The experiment proves that the algorithm proposed can effectively keep AGV away from obstacles,ensure the safety of AGV operation,and improve the speed and efficiency of AGV when performing tasks.
分 类 号:TP24[自动化与计算机技术—检测技术与自动化装置]
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