摘要
自动导向车(Automated Guided Vehicle,AGV)目前被广泛应用于物流、仓储、制造业和仓储等领域.AGV的路径规划和避障算法是实现AGV自主导航的关键技术,决定了AGV在复杂环境中能否高效、安全地完成任务,近年来成为AGV领域的重要研究热点之一.本文根据AGV路径规划及避障算法的原理与特点,将主流AGV路径规划及避障算法划分为局部避障路径规划算法、基于几何模型的路径规划算法、智能路径规划算法和混合算法4类,对算法的原理、工作流程、优缺点进行了深入分析,并介绍了相应的改进算法.最后,本文对AGV路径规划及避障的未来发展趋势进行展望,为AGV路径规划及避障算法的研究指出了方向.
Automated Guided Vehicle(AGV)is currently widely used in many fields such as logistics,warehousing,manufacturing,and warehousing.The path planning and obstacle avoidance algorithm of AGV are key technologies for achieving autonomous navigation of AGV,which determine whether AGV can efficiently and safely complete tasks in complex environments.In recent years,they have become one of the important research hotspots in the field of AGV.According to the principles and characteristics of AGV path planning and obstacle avoidance algorithms,this paper divides the mainstream AGV path planning and obstacle avoidance algorithms into three categories:local obstacle avoidance algorithms,algorithms based on Geometric modeling,and intelligent planning algorithms.Finally,this article looks forward to the future development trend of AGV vehicle path planning and obstacle avoidance,pointing out the direction for the research of AGV path planning and obstacle avoidance algorithms.
作者
赵学健
叶昊
贾伟
孙知信
ZHAO Xuejian;YE Hao;JIA Wei;SUN Zhixin(School of Modern Posts,Nanjing University of Posts and Telecommunications,Nanjing 210003,China;Jiangsu Postal Big Data Technology and Application Engineering Research Center,Nanjing University of Posts and Telecommunications,Nanjing 210003,China;Nanjing Xanway Information Technology Co.,Ltd,Nanjing 210001,China)
出处
《小型微型计算机系统》
CSCD
北大核心
2024年第3期529-541,共13页
Journal of Chinese Computer Systems
基金
国家自然科学基金项目(61972208)资助
中国博士后科学基金项目(2018M640509)资助.
关键词
AGV
路径规划
避障算法
物流
Automatic Guided Vehicle
path planning
obstacle avoidance algorithm
logistics
