电商仓库拣货机器人路径规划与实现
|
摘要
针对目前电商仓库拣货方式的发展,对机器人拣货路径进行研究与优化。首先实现仓库地图的模拟,得到JAVA语言可识别的描述文件。其次通过JAVA语言实现对描述文件的信息提取与运用,并结合最邻近算法及迪杰斯特拉算法融合进行计算。然后通过JAVA语言与MySQL数据库结合进行避障算法的设计,得到可运行的方案。最后运用MATLAB得到模拟避障结果。测试结果表明,该设计可明显提高路径规划效率,避免道路堵塞等意外发生。
In this paper, in light of the current development status of the picking practice in e-commerce warehouses, we attempted to study and optimize the routing of the picking robots. Firstly, by simulating the floor plan of a warehouse, we obtained the identifiable description file written in Java. Next, by extracting and applying the information from the description file, we went about the calculation by combining the nearest neighbor algorithm and the Dijkstra algorithm. Then we designed an obstacle avoidance algorithm through the combination of Java and MySQL database to yield a workable scheme. At the end, we got the simulation results of obstacle avoidance using MATLAB. The result showed that the design could significantly improve the path planning efficiency and prevent accidents such as path jamming, etc.
In this paper, in light of the current development status of the picking practice in e-commerce warehouses, we attempted to study and optimize the routing of the picking robots. Firstly, by simulating the floor plan of a warehouse, we obtained the identifiable description file written in Java. Next, by extracting and applying the information from the description file, we went about the calculation by combining the nearest neighbor algorithm and the Dijkstra algorithm. Then we designed an obstacle avoidance algorithm through the combination of Java and MySQL database to yield a workable scheme. At the end, we got the simulation results of obstacle avoidance using MATLAB. The result showed that the design could significantly improve the path planning efficiency and prevent accidents such as path jamming, etc.
引文
[1]沈博闻,于宁波,刘景泰.仓储物流机器人集群的智能调度和路径规划[J].智能系统学报,2014,(6):659-664.
[2]王勇.智能仓库系统多移动机器人路径规划研究[D].哈尔滨:哈尔滨工业大学,2010.
[3]Wenbai Chen,Xibao Wu,Yang Lu.An Improved Path Planning Method Based on Artificial Potential Field for a Mobile Robot[J].Cybernetics and Information Technologies,2015,15(2).
[4]Da Feng Chen,Bing Qing Han.A Case for A-Star Search[J].Applied Mechanics and Materials,2012,(130).
[5]潘成浩.仓储物流机器人拣选路径规划仿真研究[D].太原:中北大学,2017.
[6]方富贵.图论的算法和应用研究[J].计算机与数字工程,2012,40(2):115-117,132.
[2]王勇.智能仓库系统多移动机器人路径规划研究[D].哈尔滨:哈尔滨工业大学,2010.
[3]Wenbai Chen,Xibao Wu,Yang Lu.An Improved Path Planning Method Based on Artificial Potential Field for a Mobile Robot[J].Cybernetics and Information Technologies,2015,15(2).
[4]Da Feng Chen,Bing Qing Han.A Case for A-Star Search[J].Applied Mechanics and Materials,2012,(130).
[5]潘成浩.仓储物流机器人拣选路径规划仿真研究[D].太原:中北大学,2017.
[6]方富贵.图论的算法和应用研究[J].计算机与数字工程,2012,40(2):115-117,132.