基于时空A*算法的多AGV无冲突路径规划

物流中心作为快递转运的重要枢纽,其分拣效率在一定程度上影响着快递的配送时间.多台自动导引车(automatic guided vehicle,AGV)协同分拣能够大幅提高作业效率.本文研究了多AGV协同作业场景中的无冲突路径规划问题,在栅格地图建模环境的基础上,提出了基于冲突搜索的两层路径规划架构.冲突搜索与约束添加均...

Multi-AGV Non-conflict Path Planning Based on Space-time A* Algorithm

As logistics centers are an important hub of express transportation, their sorting efficiency has an impact on the delivery time of express packages. The coordinated sorting operations of multiple automatic guided vehicles (AGVs) can significantly improve the handling efficiency of logistics centers. This paper studies the non-conflict path planning in multi-AGV coordinated operations. The grid map is adopted to model the working environment, and a two-level path planning framework based on conflict search is proposed. In this framework, both the conflict search and constraint appending are achieved with the binary tree. When the upper level of this framework detects a conflict and adds the corresponding constraints, the lower level only needs to replan the paths of the AGVs related to the newly added constraints. The space-time A* algorithm is used to handle the path planning of a single AGV at the lower level. Furthermore, a conflict avoidance table is also introduced for avoiding the possible conflicts with existing paths of other AGVs. The simulation results demonstrate that the proposed multi-AGV path planning algorithm based on conflict search can solve various path conflicts.