基于人工势场算法改进的AGV自主避障路径规划算法及其应用

An improved AGV autonomous obstacle avoidance path planning algorithm based on artificial potential field algorithm and its application

为解决AGV在瓦楞纸包装车间运行中难于从起始到目标位置寻求最优且避障的路径难题,提出了一种基于人工势场算法改进的自主避障路径规划算法。首先,将目的地与AGV的相对距离加入斥力函数中,对引力函数建立梯度,以解决目的地与障碍物较近导致的目标不可达问题;其次,在局部极小值附近增加虚拟障碍物以助力AGV逃离局部极小值区域;最后,借助二阶贝塞尔曲线对搜索到的路径实施平滑处理,确保AGV的路径可行性。仿真实验表明,改进后的人工势场算法应用于包装车间环境下AGV避障路径规划是可行且高效的。

To find the optimal path and avoid obstacles for AGV in the operation of corrugated paper packaging workshops,this paper proposes an improved autonomous obstacle avoidance path planning algorithm based on artificial potential field algorithm.First,the relative distance between the destination and AGV is added to the repulsive function,and a gradient is established for the gravitational function to solve the problem of unreachable targets caused by the proximity of the destination to obstacles.Second,virtual obstacles are added near the local minimum to assist AGV in escaping from the local minimum region.Finally,the path searched is smoothed by second-order Bézier curve to ensure the path feasibility of AGV.Our comparisons and simulation experiments show the improved artificial potential field method efficiently plans the collision-free path of AGV in different packaging workshops,demonstrating its practicality and effectiveness in obstacle avoidance path planning of AGV in the packaging workshop environment.