| 一种基于滚动窗口的AGV动态路径规划算法 |
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| 引用本文： | 张庆丰,郑睿,陈宗祥.一种基于滚动窗口的AGV动态路径规划算法[J].安庆师范学院学报(自然科学版),2011,17(2):43-47. |
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| 作者姓名： | 张庆丰 郑睿 陈宗祥 |
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| 作者单位： | 马鞍山职业技术学院 计算机系,安徽马鞍山,243031;安徽工业大学 电气信息学院,安徽马鞍山,243002 |
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| 摘 要： | AGV是一种无人驾驶搬运车,是智能型移动机器人的一种。路径规划技术是AGV技术研究中的一个重要领域。在多AGV协调作业时,需要研究AGV动态路径规划问题。由于AGV运行时需要很高的实时性和安全性,本文采用了基于滚动优化窗口的路径规划方法。在当前滚动窗口中,提出了一种针对AGV特点的动态路径优化算法。最后,通过仿真证明了该方法的有效性。
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| 关 键 词： | AGV 动态路径规划 滚动规划 优化 仿真 |
AGV's Dynamic Path Planning Algorithm Based on Rolling Windows |
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| ZHANG Qing-feng,ZHENG Rui,CHEN Zong-xiang.AGV's Dynamic Path Planning Algorithm Based on Rolling Windows[J].Journal of Anqing Teachers College(Natural Science Edition),2011,17(2):43-47. |
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| Authors: | ZHANG Qing-feng ZHENG Rui CHEN Zong-xiang |
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| Institution: | ZHANG Qing-feng1,ZHENG Rui2,CHEN Zong-xiang2(1.Department of Computer Science,Maanshan Technical College,Maanshan 243011,China,2.School of Electrical Engineering & Information,Anhui University of Technology,Maanshan,243002,China) |
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| Abstract: | Automated guided vehicle(AGV) is a nobody-driven vehicle,which is one of the intellectualized mobile robot.The path planning is one of important techniques in the AGV research.It is necessary to study the problem of dynamic path planning when several AGV work at the same time.The method of rolling plan is opted because of the high real-time and safety that the AGV needed.In the AGV's current view,a new method of local path planning is proposed based on AGV's peculiarity.At last,the algorithm's validity is p... |
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| Keywords: | AGV dynamic path planning rolling plan optimization simulation |
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