摘要
AGV是一种无人驾驶搬运车,是智能型移动机器人的一种。路径规划技术是AGV技术研究中的一个重要领域。在多AGV协调作业时,需要研究AGV动态路径规划问题。由于AGV运行时需要很高的实时性和安全性,本文采用了基于滚动优化窗口的路径规划方法。在当前滚动窗口中,提出了一种针对AGV特点的动态路径优化算法。最后,通过仿真证明了该方法的有效性。
Automated guided vehicle（AGV） is a nobody-driven vehicle,which is one of the intellectualized mobile robot.The path planning is one of important techniques in the AGV research.It is necessary to study the problem of dynamic path planning when several AGV work at the same time.The method of rolling plan is opted because of the high real-time and safety that the AGV needed.In the AGV＇s current view,a new method of local path planning is proposed based on AGV＇s peculiarity.At last,the algorithm＇s validity is proved by MATLAB simulation.
出处
《安庆师范学院学报（自然科学版）》
2011年第2期43-47,共5页
Journal of Anqing Teachers College(Natural Science Edition)
关键词
AGV
动态路径规划
滚动规划
优化
仿真
AGV
dynamic path planning
rolling plan
optimization
simulation
