基于电子地图的D^(*)补偿算法AGV路径规划

Compensation for D^(*) Algorithm for AGV Path Planning Based on Electronic Map

传统的D^(*)算法在AGV的路径规划问题中存在一定的缺陷,运动的角度被限制为π/4的倍数,转弯较急、次数较多,转弯行驶不太安全,速度需经常调节,实际行驶中会耗费大量时间来进行速度的变换。D^(*)算法的补偿基于路径计算、启发函数、避障范围、路径平滑。仿真结果表明补偿后的D^(*)算法具有较短的行驶路径;极大减少转弯次数;最大程度上保持了路径的平滑,较之Dijkstra算法、A^(*)算法具有较少的计算量和较好的安全避障行驶,更符合实际的应用场景需求。

The traditional D^(*)algorithm has some defects in the path planning of AGV.The angle of motion is limited to a multiple of π/4,the turns are more rapid and frequent,the turns are not safe,the speed needs to be adjusted frequently,and a lot of time will be spent in the actual driving to change the speed.The compensation of D*algorithm is based on path calculation formula,heuristic function,obstacle avoidance range and path smoothing.The simulation results show that the compensated D^(*)algorithm has a shorter driving path.It significantly reduces the number of turns.Compared with Dijkstra and A^(*) algorithm,it has less computation and better obstacle avoidance driving,which is more in line with the requirements of practical application scenes.