基于A*与动态窗口法的物料传输平台路径规划研究

doi:10.11959/j.issn.2096-6652.202304

Abstract

Abstract:

Due to the problems of traditional material transfer equipment such as single working mode and inflexible adjustment of transfer path, intelligent material transfer system has gradually become a research hotspot in the field of logistics transmission. A path planning algorithm based on A* and dynamic window method was proposed for the modular material transmission platform, in order to improve its obstacle avoidance ability during the transfer process by flexibly adjusting the material transfer path. In the global path planning, the smoothness and static obstacle avoidance of the transmission path were realized by improving the A* weight function and integrating the Bezier curve and matrix interference theory. And by introducing the dynamic window method and extracting the global path key points as transition points for local path guidance of the transmission target, dynamic obstacle avoidance was realized when the path falling into local optimization was avoided. The research results showed that the path planning algorithm based on A* and dynamic window method could reduce the total global path length by 4.6% and the total path turning angle by 42.3%, while the dynamic obstacles could be effectively avoided in the local planning, which verified the rationality of the path planning algorithm.

Key words: path planning, A* algorithm, dynamic window method, Bezier curve, material transmission

CLC Number:

TP391

Wei TANG, Xiao TAN, Yu SUN, et al. Research on path planning of material transmission platform based on A* and dynamic window method[J]. Chinese Journal of Intelligent Science and Technology, 2023, 5(4): 515-524.

Figures/Tables 17

References 21

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类别	总路径长度/cm	总路径转角和
传统栅格	19.142	360°
蜂巢栅格	19.849	390°

算法	总路径长度/cm	总转角和	总路径缩减率	总转角缩减率
传统A*算法	19.849	390°	—	—
权值A*算法	17.320	330°	12.7%	15.3%
权值A*算法+高阶Bezier曲线	14.723	180°	25.8%	53.8%
权值A*算法+3阶Bezier曲线	16.196	210°	18.4%	46.2%
融入矩阵干涉检测	18.928	225°	4.6%	42.3%

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Research on path planning of material transmission platform based on A* and dynamic window method

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