Research On Path Planning Method In Automatic Guided Vehicle System

In the context of Automated Guided Vehicle(AGV),this paper studies the raster map environment modeling method of AGVs,global path planning based on geometric constraint A* algorithm,local path planning based on fuzzy virtual target APF algorithm and multi-AGVs vehicle scheduling based on dual path constrained genetic algorithm.The details are described below.This paper conducts an in-depth study on the path planning problem of AGV from four aspects.The main research work of this paper is as follows:1.Map construction method.Four map construction algorithms are described,include topological map method,visual map method,grid map method and free space method.Based on the partition path search cogitation,the raster map method is used to solve the AGV environment map preprocessing problem,and the initial environment raster map is generated.2.Global path planning.Based on the method of deleting redundant nodes and invalid inflection points,an A* algorithm based on geometric constraints is proposed to implement AGV global path planning.Compared with the traditional A* algorithm and RRT algorithm,the validity and feasibility of the geometric constraint-based A* algorithm in the AGV global path planning problem are verified.3.Local path planning.An APF algorithm based on fuzzy virtual target is proposed.The local path planning of AGV is realized by improving the gravitational repulsion function and constructing the fuzzy logic virtual target.Compared with the traditional artificial potential field algorithm,the effectiveness and feasibility of APF algorithm based on fuzzy virtual target in AGV local path planning problem are verified.4.Multi-AGVs' scheduling.In order to realize multi-AGVs' scheduling path planning,a genetic algorithm based on double-path constraints is proposed.The traditional algorithm was optimized by using three-exchange crossover heuristic operators,cross-variation,etc.Double-path constraints of both minimizing the total path distance of all AGVs and minimizing single path distances of each AGV are exerted,gaining the optimal shortest total path distance.The feasibility and effectiveness of the genetic algorithm based on double-path constraints in solving multi-AGVs' scheduling problems are verified by simulation experiments.