Research On AGV Path Planning And Obstacle Avoidance Algorithms Based On Laser Navigation

In the intelligent warehousing logistics system,AGV(Automatic Guided Vehicle)is the key part to embody the intelligent logistics.Although single AGV control technology is relatively mature,there is still some research space for multi-AGV cooperative control technology in large-scale warehouse under complex cross-path.Aiming at AGV path planning and obstacle avoidance,this paper takes AGV motion control as the core,and on the basis of path planning,focuses on the problem of coordinated control of multiple AGVs to make them pass through the path conflict area orderly.The specific contents are as follows.(1)Topology method is chosen as the method of map modeling.A new data structure of nodes is designed and the rules for numbering adjacent nodes are formulated.The discrete nodes are formed into a complete map through the topological information in the data structure.(2)In the aspect of path planning,on the basis of perfecting parent-child information and path cost information,the traditional A*algorithm based on 8-neighborhood vertex expansion is improved to 4-neighborhood vertex expansion,and the large-top heap sorting algorithm with less time and space complexity is used to sort the nodes in the open list,which further improves the speed of path search.Combining forward search with reverse search,the shortest turning path is chosen as the optimal path.The correctness and rationality of the improved A*algorithm are verified by path planning simulation experiments.(3)On the basis of path planning,aiming at multi-AGV path conflict problem,a multi-AGV cooperative control algorithm based on partition of avoidance zone is proposed.The algorithm determines the length and coordinate range of the avoidance area according to the type of intersection,and then judges the relative position relationship between AGV and the avoidance area.Based on the analysis of the interference between the avoidance areas,the avoidance rules of vehicles at different types of intersections are formulated,so that AGV can pass through the intersection orderly in the event of road conflict,avoiding collision and congestion.(4)Build the software and hardware platform of multi-AGV cooperative control system.The software uses VC++ 6.0 as the programming environment,and combines SqI server database and force control configuration software to develop the upper computer monitoring system.The hardware part of AGV is mainly composed of lidar,wireless communication module and ARM microcontroller.The feasibility and rationality of AGV cooperative control algorithm are verified by vehicle test and simulation.