摘要
物流企业通过路径规划工作实现车辆巡径,以完成在工作场景中实时规划出便捷可靠的车辆工作路线。因此本文面向钢铁物流配送场景,设计一种基于改进D*的路径规划算法。算法对候选子节点进行约束以禁止车辆斜穿两个障碍物间的狭缝,并且引入拐点惩罚因子以避免规划出与理想路径偏差较大的路径,尽可能避免拐动行为。此算法可避免车辆的非必要转弯,提高大型装卸车辆配送效率和安全性。使用随机障碍物的方法进行仿真测试,仿真结果表明,该路径规划算法所设计出的路径安全性优于已有算法。本文旨在将此算法应用于钢铁物流配送中,以提升钢铁企业物流配送效率。
Logistics enterprises realize vehicle route patrol through route planning,so as to complete the real-time planning of convenient and reliable vehicle route in the work scene.The aim of this study is to design a path planning algorithm based on improved D*for steel logistics distribution scenario.Constraints are imposed on candidate child nodes by the algorithm to prevent the vehicle from oblique through the slit between the two obstacles,and a penalty factor for turning points is introduced to avoid planning paths that deviate significantly from the ideal path,minimizing turning behavior as much as possible.This algorithm is designed to avoid unnecessary turning of vehicles to improve the efficiency and safety of large-scale loading and unloading vehicles.Simulation tests are conducted using the method of random obstacles,and the results show that the path security designed by the proposed path planning algorithm is better than that of the existing algorithms.Finally,this algorithm will be applied to steel logistics distribution to improve the efficiency of steel enterprise logistics distribution.
作者
薄胜
李媛
赵静怡
BO Sheng;LI Yuan;ZHAO Jingyi(Beijing Lezhi Technology Co.,Ltd.,Beijing 100089,China;China Telecom Co.,Ltd.,Hebei Xiong′an New Area Branch,Xiong′an Hebei 070001,China;Beijing University of Posts and Telecommunications,Beijing 100876,China)
出处
《河北省科学院学报》
CAS
2024年第1期33-38,共6页
Journal of The Hebei Academy of Sciences
关键词
路径规划
钢铁物流
导航
环境建模
D^(*)算法
Path planning
Steel logistics
Navigation
Environmental modeling
D^(*) algorithm
