PRM蚁群融合算法的AGV路径规划研究

AGV PATH PLANNING BASED ON PRM AND ANT COLONY OPTIMIZATION FUSION ALGORITHM

针对AGV运货时需一次性取多件货物的路径规划问题,提出一种PRM算法与蚁群算法相结合的融合算法,将问题拆分为路径的选择与TSP问题分布解决,即先利用PRM算法进行AGV路径规划,再利用蚁群算法决策出取货顺序,生成总的路径。最后采用matlab进行仿真实验,并与A*算法进行对比,结果证明了PRM蚁群融合算法比A*算法得出的路径更短、效率更高。

Aiming at the path planning problem that AGV needs to take multiple goods at one time when transporting goods,a fusion algorithm combining PRM algorithm and ant colony algorithm is proposed.The problem is divided into path selection and TSP problem distribution solution,that is,AGV path planning is carried out by using PRM algorithm,and then the picking order is determined by ant colony algorithm to generate the total path.Finally,Matlab is used for simulation experiments,and compared with the results obtained by A*algorithm,it is proved that PRM ant colony fusion algorithm is shorter and more efficient than A*algorithm.