Research On AGV Path Planning And Obstacle Avoidance Algorithm

Automatic Guided vehicleis referred to as AGV(Automatic Guided Vehicle),is a kind of typical wheeled robots,which integrates the mechatronics,autocontrol,image proce ssing and Compunication technology,and has the characteristics of high degree of auto mation,safe and reliable operation,flexible application and so on,which makes it wide ly used in logistics warehousing,flexible manufacturing,intelligent inspection and so o n.Path planning and dynamic obstacle avoidance are the core problems in AGV system application.The research on the path planning and dynamic obstacle avoidance algorith m of AGV is of great theoretical and practical significance.This article is mainly based on the research of path planning and dynamic obstacle avoidance algorithms for AGV systems,and improves some traditional path planning algorithms and obstacle avoidance strategies.1.This paper briefly introduces the modeling method of AGV environment map,and studies the AGV path planning problem based on Floyd algorithm and A* algorithm under topological map,and applies it to the actual AGV path planning.Furthermore this paper studies the AGV path planning problems based on ant colony algorithm.In view of the traditional ant colony algorithm has slow convergence speed and easily falls into the most superior defects,heuristic function,based on A* algorithm,is put forward to limit the strength of the pheromone and adopt the fallback mechanism or other measures to improve the traditional ant colony algorithm.At last,the matlab simulation was used to verify the effectiveness and rapidity of the improved ant colony algorithm.2.Based on the study of AGV dynamic obstacle avoidance problem,this paper proposes an algorithm based on improved ant colony and A* double-layer planning to solve AGV dynamic obstacle avoidance problem.Firstly,the global path planning of AGV is carried out with improved ant colony algorithm.Then,in the local rolling prediction plan of AGV,select the local optimal sub-target point with the corresponding collision avoidance strategy and use the improved A* algorithm for local path planning.Finally,Matlab simulation is used to verify the effectiveness and real-time performance of the improved ant colony and A* double-layer planning algorithm in AGV dynamic obstacle avoidance.3.From AGV ground station and AGV vehicle control system,this paper briefly introduces the system composition of AGV.Using object-oriented and modular programming methods in software design,the AGV ground station software and the software function of AGV vehicle control system were realized under the C/C++ language in LabWidows/CVI platform.The AGV system software and hardware are linked together to test the overall function of AGV ground station software and AGV vehicle-mounted control system software,and also verify the effectiveness and practicability of the improved path planning algorithm.