| 基于动态时间窗的泊车系统路径规划研究 |
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| 引用本文： | 朱龙彪,王辉,王景良,邵小江,朱志慧.基于动态时间窗的泊车系统路径规划研究[J].工程设计学报,2017,24(4). |
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| 作者姓名： | 朱龙彪 王辉 王景良 邵小江 朱志慧 |
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| 作者单位： | 1. 南通大学 机械工程学院 ,江苏 南通,226019;2. 江苏海事职业技术学院 ,江苏 南京,211199;3. 江苏金冠立体停车股份有限公司 ,江苏 南通,226003 |
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| 基金项目： | 国家自然科学基金资助项目，江苏省产学研联合创新资金项目，南通市重点实验室项目，南通市应用基础研究 工业创新项目 |
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| 摘 要： | 针对智能立体停车库中自动导引运输车(automated guided vehicle,AGV)存取车路径规划问题,采用分时利用策略,将Dijkstra算法和时间窗法有效结合,提出了一种基于动态时间窗的泊车系统路径规划方法。首先,通过引入优先级策略为接收任务的AGV设定优先级;其次,采用Dijkstra算法,按照任务优先级高低次序,依次为接受任务的AGV规划出最短可行路径;最后,在已知AGV可行路径基础上,通过对可行路径各路段的时间窗进行初始化、实时更新以及实时排布处理,实现多AGV的无冲突路径规划。为验证所提方法的可行性和有效性,以4台AGV同时工作的智能立体停车库为实例进行仿真测试。结果显示:所提出的路径规划方法不仅有效解决了目前多AGV路径规划柔性差、易出现死锁、碰撞冲突等问题,而且可在有效解决路径冲突的前提下,为接受任务的AGV规划出一条时间最短的优化路径。所提方法具有较好的鲁棒性和柔性,有效提高了智能立体停车系统整体运行效率,降低了存取车等待时间。
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| 关 键 词： | Dijkstra算法 时间窗 泊车系统 AGV 路径规划 |
Research on path planning of parking system based on dynamic time window |
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| ZHU Long-biao,WANG Hui,WANG Jing-liang,SHAO Xiao-jiang,ZHU Zhi-hui.Research on path planning of parking system based on dynamic time window[J].Journal of Engineering Design,2017,24(4). |
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| Authors: | ZHU Long-biao WANG Hui WANG Jing-liang SHAO Xiao-jiang ZHU Zhi-hui |
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| Abstract: | To solve path planning problems of accessing cars by AGV (automated guided vehicle) in the intelligent lift parking garage ,the strategies of time-sharing use were utilized ,and a path planning method of parking system based on dynamic time window was proposed through effec-tively combining Dijkstra algorithm and time window .First of all ,the AGV having task was as-signed the priorities by the introduction of priority strategy .Then ,according to the task priority order ,Dijkstra algorithm was used to plan the shortest feasible path for the AGV having task . Finally ,on the basis of feasible AGV's path ,multiple AGV collision-free path planning was a-chieved by the method which contained time window initialization ,time window real-time update and real-time arrangement .To test and verify the feasibility and effectiveness of path planning al-gorithm of parking system based on dynamic time window ,the intelligent lift parking garage with four AGVs working at the same time was tested in the simulation experiment .The experi-mental results showed that the proposed method could solve some problems in the multiple AGV path planning ,which included poor flexibility ,easily arising deadlock conflict and collision con-flict ,etc .Furthermore ,the proposed method also could plan out a minimum-time optimal path for the AGV having task under the premise of effectively solving path conflicts .The results indi-cate that the method is correct ,feasible and effective ,and has a better robustness and flexible . Besides ,it can effectively improve the overall operating efficiency of the intelligent parking system and reduce waiting time for accessing cars . |
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| Keywords: | Dijkstra algorithm time window parking system AGV path planning |
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