Path Optimization Of Automatic Guided Vehicle Based On Map

Automatic Guided Vehicle is the key equipment of modern logistics system, AutomaticGuided Vehicle domain involves two key technologies which are position orienting andobstacle avoidance path optimization. Referring to position orienting, there areelectromagnetic orientation, sonar guidance, laser guidance, inertial guidance and so on. Inthe domain of path obstacle-avoidance optimum algorithm can be divided into globaloptimization algorithms such as genetic algorithm, the ant colony algorithm, particle swarmalgorithm, etc. Local optimization algorithms are as the fuzzy control algorithm, artificialpotential field method, etc.Based on the introduction and analyzation to external and internal structures of AutomaticGuided Vehicle in Xi’an university, regarding to weak problems of its strain and localizationin static scene, a kind of automatic emergency obstacle-avoiding control method is putforward which uses fuzzy control and the joint of gyroscope and electronic compass. Thismethod uses gyroscope and electronic compass for positioning by kalman filtering data fusionmethod, and designs emergency obstacle avoidance method with the fuzzy controlalgorithm. Simulation result shows that this method can realize emergency obstacle avoidanceof Automatic Guided Vehicle.Algorithms are studied deeply through analyzing the advantages and disadvantages of thethe two algorithms. Combining with the advantages of the two algorithms, a pathoptimization algorithm is put forward which fuses particle swarm algorithm and ant colonyalgorithm. This algorithm firstly establishes link chart as the motion space model. Based onthis,an improved ant system for the fastest convergence which setting certain account ofcirculation is used to get a optimal path rapidly.Then a kind of particle ants information communication method is used.Renewing the pheromone, thereby optimal path is gotten.Simulation result shows that, even in the complex environment, this algorithm can also havean optimization accurate effect as ant colony algorithm and rapid convergence advantage ofparticle swarm algorithm to plan a global optimal security obstacle-avoidance path.Finally,the path optimization is used in the map database. The algorithm is practiced inthe vehicle,and optimization control software is designed.The path optimization effect will berealized in the operation of the vehicle.