考虑冲突规避的自动化码头多AGV路径规划

Multi-AGVs Path Planning of Automated Terminal Considering Conflict Avoidance

针对自动化码头动态作业环境中多自动导引车的路径规划问题,提出一种结合冲突规避的加权实时A*算法。考虑算法收敛速度,为实时A*添加使得收敛效果最优的权重系数,以加快行驶路径收敛于目标点;在算法搜索过程中使用时空坐标记录各AGV位置以实现路径信息共享,在此基础上结合二叉树原理对多AGV之间的冲突进行规避;通过算例验证算法的有效性,并将结果与普通A*进行综合分析与比较。结果表明该方法能有效进行多AGV动态冲突的规避,并且计算时间方面表现的效果更优。

Aiming at the problem of multi-AGVs path planning in dynamic operation automatic terminal,a weighted real-time A*algorithm combined with conflict avoidance is proposed.Firstly,the convergence speed of the algorithm is con-sidered,and the weight coefficient that makes the convergence effect optimal is added to the real-time A*to speed up the convergence of the driving path to the target point.Secondly,the space-time coordinates are used to record the location of each AGV to realize path information sharing in the process of algorithm search.On this basis,combined with the princi-ple of binary tree,the conflicts between multi-AGVs are avoided.Finally,an example is given to verify the effectiveness of the algorithm,and the results are comprehensively analyzed and compared with the ordinary A*.Simulation results show that this method can effectively avoid multi-AGVs dynamic conflicts,and the effect of computing time is better.