自动化立体仓库中智能AGV群体的静态路径规划与动态避障决策研究

摘要

针对自动化立体仓库出入库搬运作业区域自动化水平低的现状,结合智能物流的发展趋势,阐述以智能AGV群体替代叉车作业进行托盘搬运的工作模式,并对其静态路径规划与动态避障决策进行了研究.以此工作模式下的AGV为特定对象,在A-star算法的基础上考虑了时间因子的影响,进行了路径规划的算法设计;同时根据栅格图下AGV碰撞的路径特点,系统地阐述了AGV群体的碰撞类型及避障策略,并对智能AGV群体的路径规划、动态避障和路径再规划进行了算例分析.%In this paper, in light of the low automation level of the inbound and outbound handling operations of the AS/RS, and in connection with the development trend of the intelligent logistics industry, we elaborated on the working mode where the forklift truck was replaced by the intelligent AGV group to handle the pallet, and then studied the static route planning and dynamic barrier avoidance decision-making of the AGV group. Next, with the AGV under such working mode as the object, we considered the influence of the time factor on the basis of the A-star algorithm to design the route planning algorithm, next, according to the characteristics of the routing of the AGV on the grid map, presented systematically the collision type and barrier avoidance strategy of the AGV group, and at the end, had a numerical analysis of the route planning, dynamic barrier avoidance and route re-planning of the intelligent AGV group.