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  • 中国标准连:ISSN1005-2895
  • 续出版物号: CN 33-1180/TH
  • 主管单位:轻工业杭州机电设计研究院有限公司
  • 主办单位:轻工业杭州机电设计研究院有限公司、中国轻工机械协会、中国轻工业机械总公司
  • 社  长:刘安江
  • 主  编:黄丽珍
  • 地  址:杭州市余杭区高教路970号西溪联合科技广场4-711
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余星宝, 杨慧斌, 周玉凤, 闫健.改进A的4阶贝塞尔曲线路径规划[J].轻工机械,2020,38(6):64-67
改进A的4阶贝塞尔曲线路径规划
Improved Path Planning of A Quartic Bezier Curve
  
DOI:10.3969/j.issn.1005 2895.2020.06.012
中文关键词:  自动引导车(AGV)  路径规划  A算法  Bezier曲线 
英文关键词:AGV (Automated Guided Vehicle)  path planning  A algorithm  Bezier curve
基金项目:
作者单位
余星宝, 杨慧斌, 周玉凤, 闫健 上海工程技术大学 机械与汽车工程学院 上海201620 
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中文摘要:
      自动引导车(AGV)路径规划时,传统的A算法存在应对障碍物时生成路径平滑度低、累计折角多、易碰撞等问题,课题组提出一种利用Bezier曲线与A算法相结合的路径优化算法。首先利用A算法在有障碍物的栅格地图上规划出最短路径,找出路径转弯处的特征点;然后利用4阶Bezier曲线在2个特征点生成一条满足安全避障距离、具有一定曲率、路径相对更短的Bezier曲线;最后结合A算法生成的直线和Bezier曲线得到一条新的无碰撞曲线。试验结果表明在2种不同的障碍物密度下,课题组提出的新算法比传统A算法路径长度平均减少5.5%、转弯角度平均减少654%、碰撞次数平均减少100%。新算法法使AGV路径规划可减少路径长度和转弯角度,提高了AGV的工作效率和安全性能。
英文摘要:
      Aiming at the problems in the path planning of AGV of the traditional A algorithm, such as low smoothness of the generated path, multiple accumulated angles, and easy collision when dealing with obstacles, a path optimization algorithm combining Bezier curve and A algorithm was proposed. First, the A algorithm was used to plan the shortest path on the grid map with obstacles and find out the characteristic points at the turn of the path; then the quadruple Bezier curve was used to generate a Bezier curve with safe obstacle avoidance distance, certain curvature and relatively shorter path at the two characteristic points; finally, a new collision free curve was obtained by combining the straight line generated by the A algorithm and the Bezier curve. Experimental results show that under different obstacle densities, the proposed algorithm reduces the path length by 5.5% on average, the turning angle by 65.4% on average, and the number of collisions by 100% on average compared with the traditional A algorithm. The proposed method can reduce the path length for AGV path planning and turning angle, and improve the work efficiency and safety performance of AGV.
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