摘要
为解决智能仓储系统多机器人作业产生的交通拥堵问题,提出了一种基于预约栅格的多机器人动态路径规划算法。首先利用预约栅格与有向图的方法,对机器人之间的碰撞进行预防;然后利用预约栅格生成交通拥堵地图,实时显示当前仓库地图的拥堵状况;最后通过改进A*算法,实现多机器人的动态路径规划,解决机器人间的交通拥堵问题,提高了系统效率。通过仿真实验,将所提方法与传统方法进行了比较,对多机器人路径规划方法的有效性进行了验证。
To solve the traffic congestion problem caused by multi-robot operation in intelligent warehousing system,a dynamic path planning algorithm for multi-robot based on reservation grids is proposed.Firstly,the collision between robots is prevented by the combination of reservation grids and directed graph;Secondly,traffic congestion maps are generated by reservation tables to show the congestion status of warehouse maps in real time;Finally,by improving the A*algorithm,a multi-robot dynamic path planning method is proposed to solve the problem of traffic congestion between robots and improve the efficiency of the system.Through simulation experiments,the proposed method is compared with the traditional method,and the validity of the multi-robot path planning method is verified.
作者
董朝瑞
郭欣
李宁
邵谢宁
Dong Zhaorui;Guo Xin;Li Ning;Shao Xiening(School of Artificial Intelligence, Hebei University of Technology, Tianjin 300130)
出处
《高技术通讯》
EI
CAS
北大核心
2020年第1期71-81,共11页
Chinese High Technology Letters
基金
国家自然科学基金(61305101)资助项目
关键词
多机器人系统
动态路径规划
智能仓储系统
交通拥堵地图
multi-robot system
dynamic path planning
intelligent warehousing system
traffic congestion map
