Kiva机器人路径优化研究  

Path optimization of Kiva robots

作　　者：杨玮[1] 陈兴慧 陈童童 张子涵 高雪莉 李思睿 YANG Wei;CHEN Xinghui;CHEN Tongtong;ZHANG Zihan;GAO Xueli;LI Sirui

机构地区：[1]陕西科技大学机电工程学院,陕西西安710021

出　　处：《现代机械》2023年第1期9-14,共6页Modern Machinery

基　　金：国家级大学生创新创业训练计划项目(202110708044);陕西省西安市未央区项目(201939)。

摘　　要：为解决传统A*算法无法实现多Kiva机器人在路径规划中有效地避免局部冲突的问题,本文改进了传统算法,得到基于提前预测冲突的A*算法。首先对Kiva机器人的工作环境建立栅格地图,利用MATLAB进行实验仿真,结果表明,基于提前预测冲突的A*算法不仅能为两个Kiva机器人规划出最优路径,而且能有效地避免动态的迎面冲突和交叉冲突,同时能实现Kiva机器人空载时在货架下任意穿梭,载货时只能走空闲道路的特点。In order to solve the problem that the traditional A*algorithm cannot effectively avoid local conflicts in path planning for multi-Kiva robots,this paper improves the traditional algorithm and obtains the A*algorithm based on conflict prediction in advance.Firstly,a raster map of the Kiva robot’s working environment is established,and the experimental simulation is carried out by using MATLAB.The results show that the A*algorithm based on conflict prediction in advance can not only plan the optimal paths for two Kiva robots,but also effectively avoid dynamic head-on conflict and cross conflict.At the same time,the Kiva robot can shuttle freely under the shelf when it is not loaded,and can only walk on the idle road when loaded with goods.

关 键 词：Kiva机器人 改进A *算法 AGV路径规划 冲突解决 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]