摘要
为解决不规则布局的智能制造车间中自动导引车(automated guided vehicle,AGV)的路径规划问题,提出一种实现AGV路径规划的双层环境建模方法,在此基础上对其路径规划算法进行有效改进,改进算法附加考虑路径的平滑度,提出模拟退火的种群选择方法。通过仿真实验验证,改进后的算法规划出的路径更加平滑,有效避免了传统遗传算法易陷入局部最优的缺陷。仿真实验还验证了改进算法的有效性区间,当障碍物栅格占全环境比小于等于40%时,改进算法比传统遗传算法有效,在此范围内,障碍物占比越高,算法有效性越好。
To solve the path planning problem of automated guided vehicle(AGV)in the intelligent manufacturing workshop with irregular layout,a two-layer environment modeling method for implementing the path planning of AGV was proposed,and its path planning wss based on this.The algorithm was effectively improved.The smoothness of the path was additionally consi-dered in the improved algorithm,and a population selection method of simulated annealing was proposed.It is verified by simulation experiments that the path planning of the improved algorithm is smoother and the defect that traditional genetic algorithm is easy to fall into local optimum was effectively avoided.The simulation experiment also verify the validity interval of the improved algorithm.When the ratio of the obstacle grid to the whole environment is less than or equal to 40%,the algorithm is effective,and within this range,the higher the ratio of obstacles,the better the effectiveness of the algorithm.
作者
徐晗
金隼
罗磊
刘顺
XU Han;JIN Sun;LUO Lei;LIU Shun(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;R&D Department,Shanghai SmartState Technology Limited Company,Shanghai 201306,China)
出处
《计算机工程与设计》
北大核心
2022年第1期101-109,共9页
Computer Engineering and Design
基金
国家04科技重大专项基金项目(2019ZX04027-001)。
关键词
路径规划
智能制造车间
拓扑栅格建模
遗传算法
模拟退火
path planning
intelligent manufacturing workshop
topological grid modeling
genetic algorithm
simulated annealing
