AGV复合自主路径规划方法研究

A Research on AGV Composite Autonomous Path Planning Method

针对AGV在动态环境下实时自主路径规划效率低的问题,提出了一种A*算法与D*算法复合自主路径规划的方法。首先通过A*算法生成AGV当前位置到目标位置的全局最优路径;其次,当AGV在全局路径行驶遇到障碍物时,根据障碍物和全局路径的相对位置关系,确定AGV绕开障碍物的局部搜索范围;最后,结合局部路径搜索范围和D*算法,将生成的局部避障路径拼接至已有全局路径,完成了路径拼接,以实现动态障碍场景下AGV到达目标位置时的全局路径更新。试验测试结果表明:所设计的复合路径规划方法能在AGV遇到障碍时实时规划避让路径,实现AGV在复杂动态环境下的自主行驶能力。

In order to improve the efficiency ofAGV real-time autonomous path planning in dynamic environment,a hybrid method of A* algorithm and D* algorithm for autonomous path planning is proposed.This method firstly generates the global optimal path from the current point of AGV to the target point through A* algorithm.Secondly,the local search range for AGV to avoid obstacles is determined according to the relative position relationship between obstacles and the global path when AGV detects obstacles in the global path.Finally,the generated local obstacle avoidance path is spliced to the existing global path through the local search range and D* algorithm,and path splicing is completed,and the global path of AGV is updated when it reaches the target position in dynamic obstacle scenario.The test results show that the composite path planning method designed in this paper can plan the avoidance path in real time when AGV encounters obstacles,and AGV can still drive independently in complex dynamic environment.