一种改进的智能物流车模糊路径规划算法

An Improved Fuzzy Path Planning Algorithm of Intelligent Logistics Vehicle

将传统模糊路径规划算法引用到智能物流车的路径规划中,并在此基础上提出了一种改进的模糊路径规划算法。结合栅格法和自由空间法建立,利用极坐标将自由二维空间模型栅格化,建立路径规划的二维环境模型,在此模型下将模糊算法应用到智能物流车路径规划算法中,仿真结果验证了该算法的有效性,但由于路径规划过程中将车辆简化成质点导致所规划的路径可靠性不高、实用性不强。为了解决这一问题,提出了一种虚拟扩大障碍物外形尺寸的方法对障碍物进行处理,仿真结果表明该方法可以有效提高规划路径的实用性和安全性。

The traditional fuzzy path planning algorithm is applied to the path planning of intelligent logistics vehicle,and an improved fuzzy path planning algorithm is proposed. Combined with the grid method and free space method,the free two-dimensional space model is gridded by polar coordinates,and the two-dimensional environment model of path planning is established. Under this environment model,the fuzzy algorithm is applied to the path planning algorithm of logistics vehicles. The results of simulation show this algorithm is effective,but the reliability and practicability of the planned path are not very well because the vehicle is simplified as a particle in the path planning process. In order to solve this problem,a method of virtual expanding the size of obstacles is proposed to deal with obstacles. The simulation results show that the practicability and safety of planning path are effectively improved by this method.