基于A^(*)与动态窗口法的物料传输平台路径规划研究

Research on path planning of material transmission platform based on A^(*) and dynamic window method

传统的物料传输设备存在工作方式单一、传输路径柔性调整困难等问题,智能化物料传输系统已逐渐成为物流传输领域的研究热点之一。面向模块化物料传输平台,提出了一种基于A^(*)与动态窗口法的路径规划算法,以期通过柔性调整物料传输路径提高传输过程中的避障能力。在全局路径规划中通过改进A^(*)权值函数,融合Bezier曲线与矩阵干涉理论,实现了传输路径的平滑与静态避障;通过引入动态窗口法并提取全局路径关键点作为过渡点对传输目标进行局部路径指引,在避免路径陷入局部最优的同时,实现了传输目标的动态避障。研究结果表明,基于A^(*)与动态窗口法的路径规划算法使全局路径总长度、总转角分别降低了4.6%、42.3%,同时在局部规划中能有效地避开动态障碍物,验证了该路径规划算法的合理性。

Due to the problems of traditional material transfer equipment such as single working mode and inflexible adjustment of transfer path,intelligent material transfer system has gradually become a research hotspot in the field of logistics transmission.A path planning algorithm based on A^(*)and dynamic window method was proposed for the modular material transmission platform,in order to improve its obstacle avoidance ability during the transfer process by flexibly adjusting the material transfer path.In the global path planning,the smoothness and static obstacle avoidance of the transmission path were realized by improving the A^(*)weight function and integrating the Bezier curve and matrix interference theory.And by introducing the dynamic window method and extracting the global path key points as transition points for local path guidance of the transmission target,dynamic obstacle avoidance was realized when the path falling into local optimization was avoided.The research results showed that the path planning algorithm based on A^(*)and dynamic window method could reduce the total global path length by 4.6%and the total path turning angle by 42.3%,while the dynamic obstacles could be effectively avoided in the local planning,which verified the rationality of the path planning algorithm.