运输车辆机器人存取车路径优化算法研究
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摘要
针对智能停车库中的运输车辆机器人AGV,首先根据停车场结构示意图,对某一时刻停车场实际路网进行抽象,将要求的路径优化问题转化为最短路径问题。与实际问题相结合确定停车场AGV路径优化的算法为Dijkstra算法,最后通过MATLAB软件编程算法并进行求解,算出每个空闲车位相对应的最短的存取车路径及距离总和,提高AGV存取车效率,节省时间。结果证明Dijkstra算法在AGV存取车路径优化中的可行性和实用性。
Focuses on the transport vehicle robot AGV in the intelligent parking garage,firstly,according to the parking lot structure diagram,the actual road network of the parking lot is abstracted at a certain moment,and the required path optimization problem is transformed into the shortest path problem. Combining with the actual problem,Dijkstra algorithm is selected as the algorithm for parking garage AGV path optimization. Finally,by using MATLAB software to solve the algorithm,the shortest path corresponding to the transportation vehicle robot to each free parking space is obtained,which improves the efficiency of AGV access vehicle and saves time. The result proves the feasibility and practicability of Dijkstra in the optimization of AGV access vehicle path.
Focuses on the transport vehicle robot AGV in the intelligent parking garage,firstly,according to the parking lot structure diagram,the actual road network of the parking lot is abstracted at a certain moment,and the required path optimization problem is transformed into the shortest path problem. Combining with the actual problem,Dijkstra algorithm is selected as the algorithm for parking garage AGV path optimization. Finally,by using MATLAB software to solve the algorithm,the shortest path corresponding to the transportation vehicle robot to each free parking space is obtained,which improves the efficiency of AGV access vehicle and saves time. The result proves the feasibility and practicability of Dijkstra in the optimization of AGV access vehicle path.
引文
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[2]Charles E Benedict,Brian G Pfeifer,Christian AYates,et al. Automated Automotive Vehicle Parking/Storage System[P]. US Patent:US12855017,2014-05-27.
[3]王树西,李安渝. Dijkstra算法中的多邻接点与多条最短路径问题[J].计算机科学,2014,41(6):217-224.
[4]郑海丽,谢宏.基于AGV的智能停车场路径规划与调度算法研究[J].现代计算机,2018,17:23-27.
[5]刘姣,葛召炎,等.停车场泊车问题的研究与仿真[J].计算机仿真,2011:340-343.
[6]Youssef Saab,Michael VanPutte. Shortest Path Planning on Topographical Maps. IEEE Transactions on Systems,Man and Cybernetics Part A:Systems and Humans,vol.29,No.1. January 1999:139-150.
[7]钱颂迪.运筹学.北京:清华大学出版社,2005,251-263.
[8]陶杰,王一军.现代大型停车场车位诱导优化算法及仿真[J].计算机仿真,2007,24(11):176-178.
[9]Lidl,Niuk. Dijkstra’s Algorithm in AGV. Proceedings of the 2014 9th IEEE Conference on Industrial Electronics and Applications,ICIEA[C]. New York,United States:Institute of Electrical and Electronics Engineers Inc,2014:1867-1871.
[10]刘姣.智能停车场管理系统的研究[D].长沙:湖南大学,2011:24-30.