| 多AGV调度系统中的两阶段动态路径规划 |
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| 引用本文： | 刘国栋,曲道奎,张雷.多AGV调度系统中的两阶段动态路径规划[J].机器人,2005,27(3):210-214. |
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| 作者姓名： | 刘国栋 曲道奎 张雷 |
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| 作者单位： | 1. 中国科学院沈阳自动研究所,辽宁,沈阳,110016;沈阳新松机器人自动化股份有限公司,辽宁,沈阳,110016;中国科学院研究生院,北京,100039
2. 中国科学院沈阳自动研究所,辽宁,沈阳,110016;沈阳新松机器人自动化股份有限公司,辽宁,沈阳,110016 |
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| 摘 要： | 为缩短AGV系统的研发周期、降低研发成本，寻求能适应不同地图的通用调度策略以及增强对实际调度任务和故障的鲁棒性，提出了一种两阶段动态路径规划策略．对多AGV调度系统应用两阶段控制策略: 采用动态路径规划进行路径生成，实时对多个AGV同时规划其路径，并通过启发式算法实现路径优化．通过系统仿真证明，该策略很好地提高了AGV调度系统的柔性，是一种能适用于不同地图的通用调度策略．
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| 关 键 词： | 多AGV调度系统 两阶段控制策略 动态路径规划 k最短路径 启发式算法 |
| 文章编号： | 1002-0446(2005)03-0210-05 |
| 收稿时间： | 2004-09-02 |
Two-stage Dynamic Path Planning for Multiple AGV Scheduling Systems |
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| LIU Guo-dong,QU Dao-kui,ZHANG Lei.Two-stage Dynamic Path Planning for Multiple AGV Scheduling Systems[J].Robot,2005,27(3):210-214. |
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| Authors: | LIU Guo-dong QU Dao-kui ZHANG Lei |
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| Affiliation: | LIU Guo-dong~1,2,3,QU Dao-kui~1,2,ZHANG Lei~1,2 |
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| Abstract: | In order to shorten the R&D period of AGV(automated guided vehicle) systems, reduce the cost of R&D, find out universal scheduling strategy for different maps, and improve robustness to actual scheduling tasks and malfuct, a two-stage dynamic path planning strategy is developed. Multiple AGV scheduling systems are controlled with the two-stage control strategy, and paths are acquired by dynamic path planning. Several AGVs' paths are planned simultaneously in real time and path optimization is achieved with a heuristic algorithm in dynamic path planning. It is proved with simulation that the strategy improves flexibility of AGV systems and is a universal scheduling strategy for different maps. |
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| Keywords: | multiple AGV scheduling system two-stage control strategy dynamic path planning k-shortest path heuristic algorithm |
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