摘要
动态环境中AGV路径规划是一较难解决的问题,针对该问题提出了一种基于速度障碍、碰撞危险度概念的动态环境模型,并在此基础上结合模糊神经网络给出了AGV的路径规划方法。最后给出了在有静止和运动障碍物的动态环境中路径规划仿真结果,结果表明该方法是可行的。
In the dynamic environment, the problem of AGV （Automated Guided Vehicles） dynamic path planning is difficult to solve, and a mathematical model of dynamic environment was proposed based on velocity obstacle and the concept of risk degree for collision, also a method of AGV path planning with fuzzy neural network was given. At last, AGV dynamic path planning simulation was carded out in the environment with immobile and mobile obstacle, and the results indicate that the method is feasible.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2006年第9期2401-2404,共4页
Journal of System Simulation
关键词
AGV
速度障碍
碰撞危险度
模糊神经网络
路径规划
AGV
velocity obstacle
risk degree of collision
fuzzy neural network
path planning
