摘要
针对柔性制造系统中自动导引小车(AGV)路径规划的问题,给出了一种动态路径时间模型,通过注册和删除自动导引小车在路径节点上的登记信息来更新模型;基于此模型,提出了一种基于A*算法的多AGV动态路径规划方法,该方法对潜在的冲突进行检测,并分类处理,避免了潜在的碰撞和冲突,从而有效的搜索最短时间路径;同时给出了算法的具体求解过程;最后结合基于VC++6.0开发的AGV控制系统软件对算法进行仿真,实例与仿真证明了算法的可行性。
In order to solve some path planning problems of automated guided vehicles（AGV） inflexible manufacturing system （FMS）,a dynamic path time model is presented.The model is updated by registering and deleting the registration information of nodes about AGV.Based on the model,it presents a dynamic path planning method based on.A ＊ algorithm which searches effectively the shortest-time path and avoids collision and conflict by testing,classifying and processing potential conflicts.Meanwhile,the detailed solving process of this algorithm is also presented.Finally by using the AGV control system software based on vc ＋ ＋ 6.0,the simulation and experiment results prove the feasibility of the algorithm.
出处
《机械设计与制造》
北大核心
2015年第1期201-203,207,共4页
Machinery Design & Manufacture
