| 摘 要: 为解决智能仓储系统中多机器人协同控制问题,提出一种基于预约表障碍地图的改进A*路径规划算法。 首先利用预约表生成障碍地图并对机器人进行避障处理;然后给出一种改进A*算法基于障碍地图预约表更新仓储系统 中机器人实时位置并实现动态路径规划;最后,基于NImyRIO机器人平台对所提算法进行了实验仿真分析,结果表明 所提算法具备一定的可靠性并可提高仓储系统的运行效率。 |
| 关键词: 智能仓储系统;多机器人系统;路径规划 |
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中图分类号: TP242.6
文献标识码: A
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| Research on Dynamic Path Planning of Intelligent Warehouse Robot |
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LI Jinzhao1, ZHANG Shixuan1, ZHOU Xiaoling1, ZHENG Xiaoyue1, HU Zongzheng2, ZHANG Yong1
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( 1.School of Information Engineering, Tianjin University of Commerce, Tianjin 300134, China;
2.Software College, Zhongyuan University of Technology, Zhengzhou 450007, China)
20175295@tjcu.edu.cn; shixuancz@foxmail.com; 2576078263@qq.com; 1069651818@qq.com; 175033596@qq.com; zhangyong@tjcu.edu.cn
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| Abstract: In order to solve the problem of coordinately controlling multi robots in intelligent storage system, an improved A * path planning algorithm is proposed based on the obstacle map. First, the reservation table is used to generate the obstacle map, which helps the robots to avoid the obstacles. Then, an improved A * algorithm is proposed to update the real-time position of robot in storage system based on the reservation table of the obstacle map and realize the dynamic path planning. Finally, based on Ni myRIO system, the simulation results show that the algorithm is reliable and can improve the ef ciency of the storage system. |
| Keywords: intelligent storage system; multi robot system; path planning |
