D*算法在柔性输送系统路径规划中的应用研究

针对柔性传输系统(FTS)对于最短路径规划问题的要求,提出将D*算法移植并嵌入到柔性传输机器人模型的控制系统中。简要介绍并分析了D*算法的基本原理,以位置已知、环境相对确定和最低路径代价为约束条件,建立FTS的最优路径规划模型,并进行仿真实验。实验结果表明,D*算法具有较好的避障自适应性能力、较高的柔性和动态响应特性,较之Bug算法、概率路标算法(PRM)和Bellman-Ford算法等,D*算法具有较快的收敛速度和较少的计算量,适合环境相对确定、多品种小批量柔性传输系统。

The Application of D* algorithm for Path Planning in Flexible Transmission System

In term of the requirement of shortest path planning for flexible transmission system, D* algorithm is proposed to be transplanted and embedded into the control system of flexible transmission robot model. This paper briefly introduces and analyzes the basic principles of D * algorithm, and in the restrained condition of known location, relatively certain environment and minimal cost of path, an optimal path planning model of FTS is established and the simulation experiment is carried on. Experimental results illustrate that D* algorithm has better capability of obstacle avoidance, higher flexibility and dynamic response characteristics. Compared with BUG algorithms, probabilistic roadmap algorithm (PRM) and Bellman-Ford algorithm, D* algorithm has faster convergence speed and occupies less amount of computation, suiting for the environment is relatively certain and multi varieties and small batch flexible transmission system.