基于改进A^(*)算法的车间AGV路径规划

Path Planning of AGV in Workshop Based on Improved A*Algorithm

针对传统A*算法规划的自动导引车(automated guided vehicle,AGV)路径存在转弯次数多、路径不平滑以及路径点距离障碍物过近的问题,提出一种改进A*算法。首先对代价函数进行改进,往代价函数中引入AGV从起点行驶至当前点的路径长度和起点行驶至当前点的父节点的时间成本,解决了转弯次数多的问题;其次,搜索节点时去除使路径经过障碍物顶点的子节点,进而让AGV与障碍物保持安全距离;最后,利用45°圆弧和90°圆弧代替折线转弯,使路径更加平滑。此外,结合AGV在车间内的具体运输情况,构建关于运输时间最短的目标函数,并通过仿真平台验证了改进后A*算法的有效性。结果表明,改进后的A*算法规划的AGV路径转弯次数大大减少,AGV行驶的距离和时间缩短。

Aiming at the problems of many turns,unsmooth path and too close distance between path points and obstacles in the path of automated guided vehicle(AGV)planned by traditional A*algorithm,an improved A*algorithm is proposed.Firstly,the cost function is improved,and the path length of AGV from the starting point to the current point and the time cost of the parent node from the starting point to the current point are introduced into the cost function,which solves the problem of many turns.Secondly,the child nodes that make the path pass the vertex of the obstacle are removed when searching the node,so that the AGV can maintain a safe distance from the obstacle.Finally,45°arc and 90°arc are used instead of broken line turning to make the path more smooth.In addition,combined with the specific transportation situation of AGV in the workshop,the objective function of the shortest transportation time is constructed,and the effectiveness of the improved A*algorithm is verified by the simulation platform.The results show that the number of turns of the AGV path planned by the improved A*algorithm is greatly reduced,the distance traveled by AGV is shortened,and the travel time of AGV is reduced.