石河子大学机械电气工程学院;新疆天鹅现代农业机械装备有限公司;
为解决AGV运输效率较低的问题,提出一种基于改进启发式函数优化搜索领域的同步双向Astar算法。首先,选择合适的启发式函数,采用动态加权法以减少遍历节点过程中产生的冗余节点;其次,采用五邻域搜索的方法,并采用哈希表结合二叉堆对openlist列表进行数据结构优化,增加一对开放列表和关闭列表将单向改为双向搜索以达到缩短搜索时间和提高搜索效率的目的,并针对规划路线拐点较多、路径不平滑的问题,提出采用贝塞尔曲线进行路径平滑的方法;最后,基于Unity3D开发引擎搭建虚拟工厂模型,在虚拟工厂环境中进行实验,证明了该方法在路径长度和搜索时间上的优越性,并采用AHP-模糊综合评价法从安全性、稳定性、通行效率几方面对仓储虚拟工厂AGV路径质量进行评估,验证该仓储模型下AGV路径规划的适用性、高效性和可靠性。研究结果可为工厂仓储物流中AGV物流路径的设计、优化和决策提供可靠的依据。
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下载次数 | 被引频次 | 阅读次数 |
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基本信息:
DOI:10.13880/j.cnki.65-1174/n.2024.21.022
中图分类号:TP23;TP18
引用信息:
[1]谢婷芮,李占涛,周京威等.仓储工厂AGV路径规划算法研究[J].石河子大学学报(自然科学版),2024,42(06):685-691.DOI:10.13880/j.cnki.65-1174/n.2024.21.022.
基金信息:
新疆生产建设兵团科技计划项目(2023AB081,2024AB062)