基于改进的A^*算法集装箱码头自动导引小车路径规划研究

Research on Path Planning of Automatic Guided Vehicle in Container Terminal Based on Improved A^*Algorithm

针对传统A^*算法规划出的路径碰撞威胁较大,提出了在原启发式函数基础上增设自动导引小车(AGV)与障碍物间距离和安全距离函数,限制AGV与障碍物距离,从而达到降低碰撞威胁的目的.以上海洋山深水港为例,运用改进的A^*算法,根据实际情况设计仿真实验,验证了引入碰撞因子的A^*算法距离缩短为1 m时,规划时间增加为0.04 s,算法整体效益明显提高.

In view of the great collision threat of the route planned by the traditional A^*algorithm,the distance between AGV and obstacles and the safe distance function were added on the basis of the original heuristic function to limit the distance between AGV and obstacles,so as to reduce the collision threat.Finally,taking Shanghai Yangshan Deepwater Port as an example,using the improved A^*algorithm,the simulation experiment was designed according to the actual situation.It is verified that when the distance of A^*algorithm with collision factor is shortened to 1 m,the planning time increases to 0.04 s,and the overall benefit of the algorithm is obviously improved.