| 罗晓冬， 张秋菊.取档机器人路径规划的改进Dijkstra算法[J].轻工机械,2019,37(3):101-104 |
| 取档机器人路径规划的改进Dijkstra算法 |
| Dijkstra Algorithm in Path Planning of Archives Accessing Robot |
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| DOI：10.3969/j.issn.1005 2895.2019.03.021 |
| 中文关键词: 取档机器人 路径规划 Dijkstra算法 深度优先遍历算法 最小行驶代价 |
| 英文关键词:archives accessing robot path planning Dijkstra algorithm depth first traversal algorithm minimum driving cost |
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| 中文摘要: |
| 档案库取档机器人在使用传统Dijkstra算法进行路径规划时，存在无法筛选出拐弯数最少、经过节点数最少的最短路径等缺
点，提出了一种改进型的Dijkstra算法。首先针对档案库平面布局建立基于拓扑法的电子地图；然后根据任务需求，建立最短路径搜索数学模型；采用Dijkstra算法
并结合深度优先遍历算法筛选出任意2个节点间的所有最短路径，并找出花费代价最小的路径。最后对改进的算法进行仿真实验，结果表明，改进后的Dijkstra算法
可以有效地提高取档机器人的运行效率，可以用最小的行驶代价到达目标点。 |
| 英文摘要: |
| An improved Dijkstra algorithm was proposed to overcome the shortcomings of path planning for archives accessing robot，such as the inability to
select the shortest path with the least number of turns and the least number of nodes when using the general Dijkstra algorithm. First，the electronic map based on topological method was
established according to the layout of archives. second，the shortest path search mathematical model was established according to the mission requirements. Dijkstra algorithm combined
with depth first traversal algorithm was used to select all the shortest paths between two locations and find the path with the least cost.Finally，the improved algorithm was simulated. The
results show that the improved Dijkstra algorithm can effectively improve the efficiency of the robot and can reach the target point with the lowest cost. |
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