基于改进A~*算法的AGV智能泊车算法

AGV Intelligent Parking Algorithm Based on Improved A~* Algorithm

随着社会的发展和文明的进步,人类对车辆智能化水平、便捷性和安全性的要求越来越高,针对停车场车位少、停车难的问题,在A*算法的基础上,增加了时间因素,将等待时间加入启发函数,综合路径距离和等待时间两个因素进而规划出入库和出库任务的最佳路径,设计了三维A*智能泊车算法,在结构化环境下,根据给定的停车场地图,预留出最优车位,规划出多辆同时工作的自动导引车(Automated Guided Vehicle, AGV)最优路径,安排AGV运载车辆到指定车位或完成出库过程,尽量减少客户在停车和取车中的等待时间,并使总成本最小,呈现真正"互联网化"的智能停车体验.

With the development of society and the advancement of civilization,human beings are increasingly demanding the level of intelligence,convenience,and safety of vehicles.In view of the problem of less parking lot and difficult parking,the waiting time factor is added to the A* algorithm,and the waiting time is added to the number of heuristic functions,the distance of the comprehensive path and the waiting time are two factors to plan the best path for the tasks of parking into the lot and driving out of the lot,and a three-dimensional A* intelligent parking algorithm is designed.Under the structured environment,the optimal parking space is reserved according to the given parking lot map,the optimal path of the Automated Guided Vehicle(AGV) is planned for multiple simultaneous tasks,and the AGV vehicle is arranged to go to the designated parking space or to move out of the lot,with minimized waiting time of the customers to park or take the car,and making the total cost minimum,presenting a truly 'Internet-enabled' smart parking experience.