仓储工厂AGV路径规划算法研究  

Research on AGV path planning algorithm for storage plant

作　　者：谢婷芮 李占涛 周京威 赵鹏达 许红涛 赵永满[1] XIE Tingrui;LI Zhantao;ZHOU Jingwei;ZHAO Pengda;XU Hongtao;ZHAO Yongman(College of Mechanical and Electrical Engineering,Shihezi University,Shihezi,Xinjiang 832000,China;Xinjiang Swan Modern Agricultural Machinery and Equipment Co.LTD,Wujiaqu,Xinjiang 831100,China)

机构地区：[1]石河子大学机械电气工程学院,新疆石河子832000 [2]新疆天鹅现代农业机械装备有限公司,新疆五家渠831100

出　　处：《石河子大学学报（自然科学版）》2024年第6期685-691,共7页Journal of Shihezi University(Natural Science)

基　　金：新疆生产建设兵团科技计划项目(2023AB081,2024AB062)。

摘　　要：为解决AGV运输效率较低的问题,提出一种基于改进启发式函数优化搜索领域的同步双向Astar算法。首先,选择合适的启发式函数,采用动态加权法以减少遍历节点过程中产生的冗余节点;其次,采用五邻域搜索的方法,并采用哈希表结合二叉堆对openlist列表进行数据结构优化,增加一对开放列表和关闭列表将单向改为双向搜索以达到缩短搜索时间和提高搜索效率的目的,并针对规划路线拐点较多、路径不平滑的问题,提出采用贝塞尔曲线进行路径平滑的方法;最后,基于Unity3D开发引擎搭建虚拟工厂模型,在虚拟工厂环境中进行实验,证明了该方法在路径长度和搜索时间上的优越性,并采用AHP-模糊综合评价法从安全性、稳定性、通行效率几方面对仓储虚拟工厂AGV路径质量进行评估,验证该仓储模型下AGV路径规划的适用性、高效性和可靠性。研究结果可为工厂仓储物流中AGV物流路径的设计、优化和决策提供可靠的依据。A synchronous bidirectional Astar algorithm based on the optimization of an improved heuristic function in the search field is proposed to address the issue of the low efficiency of AGV trolley transportation in storage plants.Firstly,an appropriate heuristic function is selected,and the dynamic weighting approach is employed to minimize the redundant nodes during the process of traversing nodes.Secondly,the method of five-neighborhood search combined with a hash table and a binary heap is utilized to optimize the data structure of the openlist list,and a pair of openlist and closed list is added to transform the unidirectional search into a bidirectional one,thereby reducing the search time and enhancing the search efficiency.To tackle the problem of numerous inflection points and an unsmooth path,the method of applying the Bessel curve for path smoothing is put forward.Finally,a virtual warehouse factory model was developed using the Unity3D engine.Experiments were conducted within this virtual factory environment to demonstrate the advantages of this approach in terms of path length and search time.Furthermore,the AHP fuzzy comprehensive evaluation method is employed to assess the route quality of AGV trolleys within a virtual warehouse factory.This evaluation considers multiple perspectives,including safety,stability,and traffic efficiency.The aim is to verify the applicability,efficiency,and reliability of AGV trolley path planning under this storage model.Thus,it provides a reliable basis for the design,optimization,and decision-making of AGV logistics paths in factory warehouse logistics.

关 键 词：AGV路径规划 Astar算法 虚拟工厂 路径评价 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]