改进A~*算法在磁导引AGV路径规划中的应用

在搬运型自动寻迹机器人(AGV)的应用中,传统A^*算法搜索最优路线时,仅仅考虑距离最短,忽略了路径平滑度,由此提出一种基于改进A^*算法的路径规划。根据最近经过的两个RFID站点标签卡里的坐标信息计算出AGV运行方向向量,在改进的A^*算法寻路过程中,在分岔路口处,若有多条最优路线,那么选择方向和AGV当前运行方向夹角最小的那条。经实验验证了改进A^*算法的有效性,通过比较改进前后的A^*算法在目标站点和初始站点相同时的搜索结果,改进A^*算法的最佳路线的平滑度提高,转弯次数减少,能够缩短AGV的运行时间,为AGV的应用提供了一种可行的控制方式。

Application of Improved A~* Algorithm in Magnetic Guidance AGV Path Planning

In the application of AGV, the traditional A^*algorithm only considers the shortest distance and neglects the path smoothness when searching the best route. Thus, a path planning based on improved A^*algorithm is proposed. According to the coordinate information of the recently passed two RFID site labels, the direction vector of the AGV is calculated. In the improved A^*algorithm, the selection direction and the minimum angle of the current running direction of the AGV are the smallest at the bifurcation intersection. The effectiveness of the improved A^*algorithm is verified by experiments. By comparing the search results of the improved A^*algorithm at the same time in the target site and the initial site, the improvement of the smoothness of the best route of the A^*algorithm is improved, the number of turning times is reduced, the running time of the AGV can be shortened, and a feasible control mode for the use of the AGV is provided.