室内仓储物流机器人路径规划研究

Research on the Path Planning of Indoor Warehousing Logistics Robots

在室内仓储运营过程中,物流机器人取代人力配送成为物流行业的主流发展趋势。在仓储物流机器人系统中,一方面,要求通信、传感器等硬件模块具备良好性能;另一方面,路径规划也十分关键,决定了物流机器人的配送效率。因此,研究室内仓储物流机器人的路径规划具有重要意义。文章分析了传统A*算法的原理及存在的局限性,针对其局限性,采用了单行道方式和转弯惩罚项,基于改进A*算法提出一种室内仓储物流机器人路径规划方法,并提出在固定环境中投入合适机器人数量的策略,以期通过科学、合理的机器人路径规划提高物流仓库的工作效率和机器人系统的运行效率。

In the indoor warehousing operation,logistics robots replaces the human distribution and becomes the mainstream development trend of logistics industry.In warehousing logistics robot system,on the one hand,it is required that communication,sensors and other hardware modules have good performance.On the other hand,the path planning is also crucial,which determines the distribution efficiency of logistics robots.Therefore,the study of the path planning of indoor warehousing logistics robots is of great significance.This article analyzes the principle and limitations of traditional A*algorithm.In response to these limitations,a one-way approach and a penalty for turning are adopted.Based on the improved A*algorithm,this article puts forward a path planning method of indoor warehousing logistics robots and a strategy for investing an appropriate number of robots in a fixed environment.It aims to improve the working efficiency of logistics warehouse and the operation efficiency of the robot system through the scientific and reasonable robot path planning.