烟叶原料仓储AGV路径规划策略研究  

Research on AGV Path Planning Strategy for Tobacco Warehouse

作　　者：章一凡 孙小涵 彭勇刚[1] 张佳鑫 潘雪迪 张羽飞 曾峥 陈川 贾桥东 Zhang Yifan;Sun Xiaohan;Peng Yonggang;Zhang Jiaxin;Pan Xuedi;Zhang Yufei;Zeng Zheng;Chen Chuan;Jia Qiaodong(College of Electrical Engineering,Zhejiang University,Hangzhou 310027,China;China Tobacco Zhejiang Industrial Co.,Ltd.,Hangzhou 310008,China)

机构地区：[1]浙江大学电气工程学院,杭州310027 [2]浙江中烟工业有限责任公司,杭州310008

出　　处：《科技通报》2024年第11期75-80,共6页Bulletin of Science and Technology

基　　金：浙江大学-浙江中烟联合实验室项目、中国烟草总公司重点研发项目(110202202044)。

摘　　要：针对烟叶原料仓储作业中的自动导引车(automated guided vehicle,AGV)路径规划场景,为降低路径中的转向代价和防止碰撞冲突,本文对AGV路径规划策略展开研究。对于单AGV路径规划,考虑烟叶原料仓储作业的负载特性,向A*算法的启发式函数中加入转向代价。对于多AGV路径规划,针对设备之间的冲突碰撞问题,采用改进基于冲突的搜索算法求解。在顶层搜索中引入有界次优和优先级分批规划策略,以牺牲部分求解质量为代价加快求解速度。在底层搜索中设计考虑转向代价的时空A*算法,减少路径中的拐点。在40×40的栅格地图上设置不同规模的算例进行仿真,验证了改进A*算法在减少路径中拐点的有效性和改进冲突搜索算法在求解质量和求解效率上的优越性。For the automated guided vehicle(AGV)path planning scenario in the tobacco warehouse operation,the AGV path planning strategy is investigated in order to reduce the steering cost in the path and prevent collision conflicts.For single AGV path planning,steering cost is added to the heuristic function of the A*algorithm by considering the load characteristics of the tobacco warehouse operation.For multi-AGV path planning,an improved conflict-based search algorithm is used to solve the conflict collision problem between devices.Bounded suboptimal and prioritized batch planning strategies are introduced in the top layer search to speed up the solution at the expense of some solution quality.A spatio-temporal A*algorithm that considers steering costs is designed in the underlying search to reduce turning points in the path.The simulation is set up on a 40×40 grid map with different sizes of arithmetic cases.It verifies the effectiveness of the improved A*algorithm in reducing the turning points in the path and the superiority of the improved conflict search algorithm in terms of solution quality and solution efficiency.

关 键 词：自动导引车 路径规划 基于冲突搜索 改进A*算法 智能仓储 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]