基于改进A*算法的智慧停车库移动机器人路径规划  

Path planning of intelligent parking garage mobile robot based on improved Aalgorithm

作　　者：杨瑞君 方宏年 徐彬 季守成 YANG Ruijun;FANG Hongnian;XU Bin;JI Shoucheng(School of Mechanical Engineering,Shanghai Institute of Technology,Shanghai 201418,China)

机构地区：[1]上海应用技术大学机械工程学院,上海201418

出　　处：《传感器与微系统》2025年第3期156-160,共5页Transducer and Microsystem Technologies

基　　金：上海市科委创新资金资助项目(220H1133800)。

摘　　要：随着“停车难”问题的日益严重,基于自动导引车(AGV)的智慧停车库在解决该问题上发挥着关键作用。智慧停车库采用传统A*算法规划AGV路径时,存在距离长、用时长以及转角次数过多等不足。本文结合智慧停车库的实际场景规划,将基于麦克纳姆轮的AGV路径搜索由原来8邻域搜索改为4邻域搜索,并优化AGV转弯判断条件,对传统算法进行改进。通过动态调整权重系数,使得当与目标点越近,权重系数越小,搜索结果越精确;结合转弯惩罚函数来减少路径的转角,进而减少转弯次数,从而得到最优路径。根据MATLAB软件仿真可知,基于改进后的A*算法,使得AGV在路径搜索范围、转弯次数以及行驶时间等方面都得到了优化,为进一步提升智慧停车库的运行效率奠定了一定的研究基础。As the problem of"difficult parking"in China is becoming increasingly serious,intelligent parking garage based on automated guided vehicle(AGV)plays a key role in solving this problem.When the intelligent parking garage uses the traditional Aalgorithm to plan the AGV path,there are shortcomings such as long distance,long time consumption,and excessive number of turns.This article combines with the actual scene planning of the intelligent parking garage,the AGV path search based on the Mecanum wheel is changed from the original eight-neighborhood search to four-neighborhood search,and the turning judgment conditions of AGV are optimized to improve the traditional algorithm.By dynamically adjusting the weight coefficient,the closer to the target point,the smaller the weight coefficient,and the more accurate the search result;combined with the turning penalty function to reduce the corner of the path,thereby reducing the number of turns,and thus obtaining the optimal path.According to the simulation of MATLAB software,based on the improved Aalgorithm,the AGV are optimized in terms of path search range,number of turns,and travel time,laying a certain research basis for further improving the operating efficiency of the intelligent parking garage.

关 键 词：智慧停车库 自动导引车 改进A~*算法 路径规划 转弯惩罚 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]