AGV Path Planning And Application Of Intelligent Parking Garage

With the rapid growth of car ownership,the demand for parking Spaces in various parts of China is more and more urgent,especially in the densely populated urban centers,people often face the problem of parking difficulties.The emergence of AGV intelligent parking garage will effectively alleviate this situation.When AGV is used as a vehicle for parking,effective spatial planning can be carried out on the parking lot due to more accurate parking methods,such as reducing the parking space area,reducing the height of the floor,developing new parking Spaces,etc.,thus greatly increasing the number of parking Spaces.AGV path planning and obstacle avoidance strategy directly affect the operation efficiency of intelligent garage,so it is very important to study it.This paper mainly focuses on the path planning algorithm and obstacle avoidance strategy of AGV in AGV intelligent garage.The main contents are as follows:Firstly,according to the characteristics of the garage environment,the environment model is constructed by the grid method,and then the feature information and dynamic information of the garage are described hierarchically.Secondly,for single AGV path planning,A~* algorithm and Dijkstra algorithm are analyzed and compared,and A~* algorithm with higher path-finding efficiency is adopted as the path planning algorithm of AGV in this paper.Through the example analysis of A~* algorithm,the shortcomings of traditional A~* algorithm are put forward.The artificial potential field method and the turn weight optimization are used to solve the problem of more inflection points,and the computational efficiency is improved by changing the weight of heuristic function.Finally,the effectiveness and feasibility of optimization are proved by simulation.Thirdly,obstacle avoidance strategy is to solve the problem of collision in multi-agv system.This paper adopts two measures: prevention and real-time processing to realize multi-agv collision free driving.Prevention refers to the secondary planning of AGV paths by using the method of time window,so that they stagger in the time occupied by sections,so as to avoid conflicts.Real-time processing is the application of node locking strategy.The intersection node with AGV entering is automatically closed and other agvs are forbidden to enter,so as to solve the problem of time window planning failure caused by the unstable running speed of AGV.Finally,according to the specific project requirements,analyze the functions of the scheduling software,determine the system’s workflow,design each functional module,and develop the AGV scheduling management software based on C++.