CN113310492B - Single-steering-wheel AGV path planning method and system based on A-star algorithm - Google Patents
Single-steering-wheel AGV path planning method and system based on A-star algorithm Download PDFInfo
- Publication number
- CN113310492B CN113310492B CN202110584156.9A CN202110584156A CN113310492B CN 113310492 B CN113310492 B CN 113310492B CN 202110584156 A CN202110584156 A CN 202110584156A CN 113310492 B CN113310492 B CN 113310492B
- Authority
- CN
- China
- Prior art keywords
- point
- planning
- path
- agv
- end point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a method based on A starThe method comprises the steps of determining a starting point and an end point of an AGV path, and further determining a planning end point of the AGV according to the starting point and the end point, wherein the planning end point comprises a head end point and a tail end point, the head end point is located in the direction opposite to the head of the AGV when the AGV is at the starting point, and the tail end point is located in the direction opposite to the tail of the AGV when the AGV is at the end point; searching a planned path point of the AGV between the head end point and the tail end point through an A star algorithm, and planning the path of the AGV according to the planned path point; presetting a path planning constraint rule, determining a planning end point and a planning path point according to the constraint rule, wherein the constraint rule comprises that the turning radius of the AGV is not more than the distance between two adjacent points in the starting point, the planning end point and the planning path point
The method solves the problem that the conventional method for planning the path of the AGV with the single steering wheel cannot directly use the A star algorithm.
Description
Technical Field
The invention belongs to the technical field of AGV path planning, and particularly relates to a method and a system for planning an AGV path with a single steering wheel based on an A-star algorithm.
Background
At present, the A star algorithm is widely applied to path planning of an AGV, but the A star algorithm is a point-based path search algorithm, and for an AGV platform which can move in all directions, such as a differential wheel structure and a double-steering wheel structure, the motion characteristics of the A star algorithm do not need to be considered. In the place that the space is enough, use the transportation that single steering wheel structure can satisfy the goods, especially fork truck repacking type AGV, general fork truck all is single steering wheel structure, and the repacking cost is higher. Since the single-steering wheel vehicle cannot move in all directions and spin in place, the path planned by the a star algorithm cannot be directly used.
Disclosure of Invention
The embodiment of the application provides a single-steering wheel AGV path planning method and system based on an A star algorithm, and aims to at least solve the problem that the existing single-steering wheel AGV path planning method cannot directly use the A star algorithm.
In a first aspect, an embodiment of the present application provides a method for planning an AGV path with a single steering wheel based on an a-star algorithm, including: a planning end point determining step, namely determining a starting point and an end point of a path of an AGV, and further determining a planning end point of the AGV according to the starting point and the end point, wherein the planning end point comprises a head end point and a tail end point, the head end point is positioned in a head end opposite direction of the AGV at the starting point, and the tail end point is positioned in a tail end opposite direction of the AGV at the end point; a path A star planning step, namely searching planned path points of the AGV between the head end point and the end point through an A star algorithm, and planning the path of the AGV according to the planned path points; a path planning constraint step, presetting a path planning constraint rule, determining the planning end point and the planning path point according to the constraint rule, wherein the constraint rule is included in the starting point, the planning end point and the planning path point, and the turning radius of the AGV is not more than the distance between two adjacent points
Preferably, the path a star planning step further includes: and if three points in a straight line connection relationship exist in the range of the starting point, the planning end point and the planning path point, determining a running mode of the AGV between the first point and the second point according to the trend of the path after the third point, wherein the running mode comprises constant-speed running or deceleration running.
Preferably, the path a star planning step further includes: if four points exist in the range of the starting point, the planning end point and the planning path point, the first three points are in a straight line connection relationship, and the fourth point takes the third point as a vertex and forms a right angle relationship with the first three points, the AGV reaches the turning speed of the AGV from the first point to the second point so as to further reach the fourth point; and if the AGV reaches the second point, the turning speed of the AGV cannot be reached, and the AGV further reaches the fourth point through turning track correction.
Preferably, the path a star planning step further includes: if four points exist in the range of the starting point, the planning end point and the planning path point, the first two points and the second two points respectively form a parallel straight line connection relation in the same direction, and the third point takes the second point as a vertex to form a right angle relation with the first two points, so that the AGV reaches the fourth point from the first point in a lane changing mode.
Preferably, the path a star planning step further includes: if four points exist in the range of the starting point, the planning end point and the planning path point, the first two points and the second two points respectively form a parallel and opposite straight line connection relationship, and the third point takes the second point as a vertex to form a right angle relationship with the first two points, so that the AGV reaches the fourth point from the first point in a U-turn manner.
In a second aspect, an embodiment of the present application provides an a-star algorithm-based single-steering wheel AGV path planning system, which is applicable to the a-star algorithm-based single-steering wheel AGV path planning method, and includes: the planning end point determining module is used for determining a starting point and an end point of a path of an AGV and further determining a planning end point of the AGV according to the starting point and the end point, wherein the planning end point comprises a head end point and a tail end point, the head end point is positioned in the direction opposite to the head of the AGV at the starting point, and the tail end point is positioned in the direction opposite to the tail of the AGV at the end point; a path A star planning module, which searches the planned path points of the AGV between the head end point and the end point through an A star algorithm and plans the path of the AGV according to the planned path points; the path planning constraint module is used for presetting a path planning constraint rule, determining the planning end point and the planning path point according to the constraint rule, wherein the constraint rule is included in the starting point, the planning end point and the planning path point, and the turning radius of the AGV is not more than the distance between two adjacent points
In some embodiments, the path a star planning module further comprises: and if three points in a straight line connection relationship exist in the range of the starting point, the planning end point and the planning path point, determining a running mode of the AGV between the first point and the second point according to the trend of the path after the third point, wherein the running mode comprises constant-speed running or deceleration running.
In some embodiments, the path a star planning module further comprises: if four points exist in the range of the starting point, the planning end point and the planning path point, the first three points are in a straight line connection relationship, and the fourth point takes the third point as a vertex to form a right angle relationship with the first three points, the AGV reaches the turning speed of the AGV when reaching the second point from the first point so as to further reach the fourth point; and if the AGV reaches the second point, the turning speed of the AGV cannot be reached, and the AGV further reaches the fourth point through turning track correction.
In some embodiments, the path a star planning module further comprises: if four points exist in the range of the starting point, the planning end point and the planning path point, the first two points and the second two points respectively form a parallel straight line connection relation in the same direction, and the third point takes the second point as a vertex and forms a right-angle relation with the first two points, so that the AGV reaches the fourth point from the first point in a lane changing mode.
In some embodiments, the path a star planning module further comprises: if four points exist in the range of the starting point, the planning end point and the planning path point, the first two points and the second two points respectively form a parallel and opposite straight line connection relationship, and the third point takes the second point as a vertex and forms a right-angle relationship with the first two points, so that the AGV reaches the fourth point from the first point in a U-turn manner.
Compared with the related technology, the method for planning the path of the AGV with the single steering wheel based on the A-star algorithm provided by the embodiment of the application is characterized in that the A-star algorithm is added with constraint conditions in the searching process, the starting point and the final point are re-planned, and the path point data is converted into the path which can be operated by the AGV, so that the path planning method of the AGV with the single steering wheel is provided. The method is simple to implement, does not need the AGV equipment which moves in all directions or spins in place when the A star algorithm is implemented, and is particularly suitable for being used by the modified forklift type AGV.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a flowchart of a single steering wheel AGV path planning method based on the A star algorithm of the present invention;
FIG. 2 is a frame diagram of the AGV path planning system based on the A star algorithm with a single steering wheel according to the present invention;
FIG. 3 is a schematic diagram of a first path plan provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of a second path plan provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of a third path plan provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of a fourth path planning provided by an embodiment of the present invention;
fig. 7 is a schematic diagram of a fifth path planning according to an embodiment of the present invention;
in the above figures:
1. a planning endpoint determination module; 2. a path A star planning module; 3. a path planning constraint module; 60. a bus; 61. a processor; 62. a memory; 63. a communication interface.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application.
It is obvious that the drawings in the following description are only examples or embodiments of the application, and that it is also possible for a person skilled in the art to apply the application to other similar contexts on the basis of these drawings without inventive effort. Moreover, it should be appreciated that such a development effort might be complex and tedious, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, given the benefit of this disclosure, without departing from the scope of this disclosure.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly and implicitly understood by one of ordinary skill in the art that the embodiments described herein may be combined with other embodiments without conflict.
Unless otherwise defined, technical or scientific terms referred to herein should have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The use of the terms "a" and "an" and "the" and similar referents in the context of describing the invention (including a single reference) are to be construed in a non-limiting sense as indicating either the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The single-steering-wheel AGV path planning method based on the A star algorithm is suitable for distinguishing a specific object in an image.
Embodiments of the invention are described in detail below with reference to the following drawings:
fig. 1 is a flowchart of a method for planning an AGV path with a single steering wheel based on an a-star algorithm of the present invention, and please refer to fig. 1, the method for planning an AGV path with a single steering wheel based on an a-star algorithm of the present invention includes the following steps:
s1: the method comprises the steps of determining a starting point and a terminal point of a path of an AGV, further determining a planning terminal point of the AGV according to the starting point and the terminal point, wherein the planning terminal point comprises a head terminal point and a terminal point, the head terminal point is located in the direction opposite to the head of the AGV at the starting point, and the terminal point is located in the direction opposite to the tail of the AGV at the terminal point.
In a specific implementation, for a starting point, since the AGV with a single steering wheel structure can only continue to drive along the current direction, the first point after the starting point must be defined as a point adjacent to the direction in which the vehicle head faces the direction; for the terminal, a point before the terminal is necessarily a point backward along the opposite direction of the locomotive according to the requirement of the locomotive direction of the terminal. Therefore, in the specific implementation, the a star algorithm is directly adopted only in the path search between the head end point and the tail end point, and the head end point and the tail end point are inserted into the path after the search is completed.
S2: and searching the planned path points of the AGV between the head end point and the end point through an A star algorithm, and planning the path of the AGV according to the planned path points.
In specific implementation, the path coordinate points are converted into executable paths of the AGV with the single steering wheel, and the executable paths of the AGV with the single steering wheel are different according to different arrangement modes of the planned path points.
Fig. 4 is a schematic diagram of a second path planning provided in the embodiment of the present invention, optionally, please refer to fig. 4:
if three points in straight line connection relation exist in the range of the starting point, the planning end point and the planning path point, determining a running mode of the AGV between the first point and the second point according to the trend of the path after the third point, wherein the running mode comprises constant-speed running or deceleration running.
In a specific implementation, when the AGV is at the position of point a and the vehicle head faces point B, the planned path points are A, B, C, D in sequence, the AGV travels straight between point a and point B, and performs motion control according to the straight travel, and after reaching point B, it is determined that constant speed travel continues between point B and point C or deceleration starts according to the position of a point behind point D.
Fig. 5 is a schematic diagram of a third path planning provided in an embodiment of the present invention, optionally, please refer to fig. 5:
if four points exist in the range of the starting point, the planning end point and the planning path point, the first three points are in a straight line connection relationship, and the fourth point takes the third point as a vertex to form a right angle relationship with the first three points, the AGV reaches the turning speed of the AGV when reaching the second point from the first point so as to further reach the fourth point; and if the AGV reaches the second point, the turning speed of the AGV cannot be reached, and the AGV further reaches the fourth point through turning track correction.
In specific implementation, when the AGV is at the point a and the vehicle head faces the point B, the planned path points are A, B, C, D in sequence, and when the distance between the point a and the point B is enough to decelerate the speed to the turning speed, the AGV running condition between A, B is uniform speed and then decelerated, and the turning track starts to be tracked to the point B until the turning of the point D is finished. If the distance between the points A and B is not enough to decelerate the speed to the turning speed, the normal turning from the point B to the point D is realized through the correction of the turning track.
Fig. 6 is a schematic diagram of a fourth route planning provided in the embodiment of the present invention, optionally, please refer to fig. 6:
if four points exist in the range of the starting point, the planning end point and the planning path point, the first two points and the second two points respectively form a parallel straight line connection relation in the same direction, and the third point takes the second point as a vertex and forms a right-angle relation with the first two points, so that the AGV reaches the fourth point from the first point in a lane changing mode.
In a specific implementation, when the AGV is at point a and the vehicle head is facing point B, the planned path points are in turn A, B, C, D. At this point, the AGV performs a lane change-like operation, traveling to point D.
Fig. 7 is a schematic diagram of a fifth path planning provided in the embodiment of the present invention, optionally, please refer to fig. 7:
if four points exist in the range of the starting point, the planning end point and the planning path point, the first two points and the second two points respectively form a parallel and opposite straight line connection relationship, and the third point takes the second point as a vertex to form a right angle relationship with the first two points, so that the AGV reaches the fourth point from the first point in a U-turn manner.
In a specific implementation, when the AGV is at point a and the vehicle head is facing point B, the planned path points are A, B, C, D in sequence, and the AGV performs an operation similar to turning around.
Please continue to refer to fig. 1:
s3: presetting a path planning constraint rule, determining the planning end point and the planning path point according to the constraint rule, wherein the constraint rule is included in the starting point, the planning end point and the planning path point, and the turning radius of the AGV is not more than the distance between two adjacent points
Fig. 3 is a schematic diagram of a fifth path planning provided in the embodiment of the present invention, please refer to fig. 3:
in a specific implementation, when the AGV is located at the point a and the vehicle head faces the point B, if the turning radius of the AGV is greater than a half of the distance between the point a and the point B, the AGV cannot travel along the path, so that planning of such a path point combination is avoided in the path searching process.
It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
The embodiment of the application provides a single-steering-wheel AGV path planning system based on an A-star algorithm, which is suitable for the single-steering-wheel AGV path planning method based on the A-star algorithm. As used below, the terms "unit," "module," and the like may implement a combination of software and/or hardware of predetermined functions. Although the means described in the embodiments below are preferably implemented in software, implementations in hardware or a combination of software and hardware are also possible and contemplated.
Fig. 2 is a block diagram of a single-steering wheel AGV path planning system based on the a-star algorithm according to the present invention, please refer to fig. 2, which includes:
planning endpoint determination module 1: the method comprises the steps of determining a starting point and a terminal point of a path of an AGV, further determining a planning terminal point of the AGV according to the starting point and the terminal point, wherein the planning terminal point comprises a head terminal point and a terminal point, the head terminal point is located in the direction opposite to the head of the AGV when starting the starting point, and the terminal point is located in the direction opposite to the tail of the AGV when the terminal point.
In a specific implementation, for a starting point, since the AGV with the single-steering wheel structure can only continue to run along the current direction, the first point after the starting point must be defined as a point adjacent to the direction opposite to the vehicle head; for the terminal, a point before the terminal is necessarily a point backward along the opposite direction of the locomotive according to the requirement of the locomotive direction of the terminal. Therefore, in the specific implementation, the A star algorithm is directly adopted only in the path search between the head end point and the tail end point, and the head end point and the tail end point are inserted into the path after the search is completed.
Path a star planning module 2: searching a planned path point of the AGV between the head end point and the tail end point through an A star algorithm, and planning the path of the AGV according to the planned path point.
In specific implementation, the path coordinate points are converted into executable paths of the AGV with the single steering wheel, and the executable paths of the AGV with the single steering wheel are different according to different arrangement modes of the planned path points.
Fig. 4 is a schematic diagram of a second path planning provided in the embodiment of the present invention, optionally, please refer to fig. 4:
if three points in straight line connection relation exist in the range of the starting point, the planning end point and the planning path point, determining a running mode of the AGV between the first point and the second point according to the trend of the path after the third point, wherein the running mode comprises constant-speed running or deceleration running.
In a specific implementation, when the AGV is at the position of point a and the vehicle head faces point B, the planned path points are A, B, C, D in sequence, the AGV travels straight between point a and point B, and performs motion control according to the straight travel, and after reaching point B, it is determined that constant speed travel continues between point B and point C or deceleration starts according to the position of a point behind point D.
Fig. 5 is a schematic diagram of a third path planning provided in the embodiment of the present invention, optionally, please refer to fig. 5:
if four points exist in the range of the starting point, the planning end point and the planning path point, the first three points are in a straight line connection relationship, and the fourth point takes the third point as a vertex to form a right angle relationship with the first three points, the AGV reaches the turning speed of the AGV when reaching the second point from the first point so as to further reach the fourth point; and if the AGV cannot reach the turning speed of the AGV when reaching the second point, the AGV further reaches the fourth point through turning track correction.
In specific implementation, when the AGV is at the position of point a and the vehicle head faces to point B, the planned path points are A, B, C, D in sequence, and when the distance between the point a and the point B is enough to decelerate the speed to the turning speed, the AGV running condition between A, B is that the speed is decelerated at a constant speed first and then decelerated until the point B starts to track the turning track, and the turning is finished until the point D is turned. If the distance between the points A and B is not enough to decelerate the speed to the turning speed, the normal turning from the point B to the point D is realized through the correction of the turning track.
Fig. 6 is a schematic diagram of a fourth route planning provided in the embodiment of the present invention, optionally, please refer to fig. 6:
if four points exist in the range of the starting point, the planning end point and the planning path point, the first two points and the second two points respectively form a parallel straight line connection relation in the same direction, and the third point takes the second point as a vertex to form a right angle relation with the first two points, so that the AGV reaches the fourth point from the first point in a lane changing mode.
In a specific implementation, when the AGV is at point a and the vehicle head is facing point B, the planned path points are in turn A, B, C, D. At this point, the AGV performs a lane change-like operation, traveling to point D.
Fig. 7 is a schematic diagram of a fifth path planning provided in the embodiment of the present invention, optionally, please refer to fig. 7:
if four points exist in the range of the starting point, the planning end point and the planning path point, the first two points and the second two points respectively form a parallel and opposite straight line connection relationship, and the third point takes the second point as a vertex and forms a right-angle relationship with the first two points, so that the AGV reaches the fourth point from the first point in a U-turn manner.
In a specific implementation, when the AGV is at point a and the vehicle head is facing point B, the planned path points are A, B, C, D in sequence, and the AGV performs an operation similar to turning around.
Please continue to refer to fig. 2:
the path planning constraint module 3: presetting a path planning constraint rule, determining the planning end point and the planning path point according to the constraint rule, wherein the constraint rule is included in the starting point, the planning end point and the planning path point, and the turning radius of the AGV is not more than the distance between two adjacent points
Fig. 3 is a schematic diagram of a fifth path planning provided in the embodiment of the present invention, please refer to fig. 3:
in a specific implementation, when the AGV is located at the point a and the vehicle head faces the point B, if the turning radius of the AGV is greater than a half of the distance between the point a and the point B, the AGV cannot travel along the path, so that planning of such a path point combination is avoided in the path searching process.
All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (6)
1. A single-steering-wheel AGV path planning method based on an A star algorithm is characterized by comprising the following steps:
a planning end point determining step, namely determining a starting point and an end point of a path of an AGV, and further determining a planning end point of the AGV according to the starting point and the end point, wherein the planning end point comprises a head end point and a tail end point, the head end point is positioned in a head end opposite direction of the AGV at the starting point, and the tail end point is positioned in a tail end opposite direction of the AGV at the end point;
a path A star planning step, namely searching planned path points of the AGV between the head end point and the tail end point through an A star algorithm, and planning the path of the AGV according to the planned path points;
a path planning restraining step, presetting a path planning restraining rule, determining the planning end point and the planning path point according to the restraining rule, wherein the restraining rule is included in the starting point, the planning end point and the planning path point, and the turning radius of the AGV is not more than the distance between two adjacent points
Wherein, the path A star planning step further comprises:
if three points in a straight line connection relationship exist in the range of the starting point, the planning end point and the planning path point, determining a running mode of the AGV between the first point and the second point according to the trend of the path after the third point, wherein the running mode comprises constant-speed running or deceleration running;
wherein, the path A star planning step further comprises:
if four points exist in the range of the starting point, the planning end point and the planning path point, the first three points are in a straight line connection relationship, and the fourth point takes the third point as a vertex to form a right angle relationship with the first three points, the AGV reaches the turning speed of the AGV when reaching the second point from the first point so as to further reach the fourth point; and if the AGV reaches the second point, the turning speed of the AGV cannot be reached, and the AGV further reaches the fourth point through turning track correction.
2. The method for planning the path of the AGV with the single steering wheel based on the a-star algorithm according to claim 1, wherein the step of planning the path by the a-star further comprises:
if four points exist in the range of the starting point, the planning end point and the planning path point, the first two points and the second two points respectively form a parallel straight line connection relation in the same direction, and the third point takes the second point as a vertex to form a right angle relation with the first two points, so that the AGV reaches the fourth point from the first point in a lane changing mode.
3. The method for planning the path of the AGV with the single steering wheel based on the a-star algorithm according to claim 1, wherein the path a-star planning step further comprises:
if four points exist in the range of the starting point, the planning end point and the planning path point, the first two points and the second two points respectively form a parallel and opposite straight line connection relationship, and the third point takes the second point as a vertex and forms a right-angle relationship with the first two points, so that the AGV reaches the fourth point from the first point in a U-turn manner.
4. The utility model provides a single rudder wheel AGV path planning system based on A star algorithm which characterized in that includes:
the system comprises a planning end point determining module, a planning end point determining module and a planning end point determining module, wherein the planning end point determining module determines a starting point and an end point of a path of an AGV and further determines the planning end point of the AGV according to the starting point and the end point, the planning end point comprises a head end point and a tail end point, the head end point is located in the direction opposite to the head of the AGV when the starting point is located, and the tail end point is located in the direction opposite to the tail of the AGV when the end point is located;
a path A star planning module, which searches the planned path points of the AGV between the head end point and the end point through an A star algorithm and plans the path of the AGV according to the planned path points;
the path planning constraint module is used for presetting a path planning constraint rule, determining the planning end point and the planning path point according to the constraint rule, wherein the constraint rule is included in the starting point, the planning end point and the planning path point, and the turning radius of the AGV is not more than the distance between two adjacent points
Wherein the path a star planning module further comprises:
if three points in a straight line connection relationship exist in the range of the starting point, the planning end point and the planning path point, determining a running mode of the AGV between the first point and the second point according to the trend of the path after the third point, wherein the running mode comprises constant speed running or deceleration running;
wherein the path a star planning module further comprises:
if four points exist in the range of the starting point, the planning end point and the planning path point, the first three points are in a straight line connection relationship, and the fourth point takes the third point as a vertex to form a right angle relationship with the first three points, the AGV reaches the turning speed of the AGV when reaching the second point from the first point so as to further reach the fourth point; and if the AGV reaches the second point, the turning speed of the AGV cannot be reached, and the AGV further reaches the fourth point through turning track correction.
5. The A-star algorithm based single steering wheel AGV path planning system of claim 4, wherein the path A-star planning module further comprises:
if four points exist in the range of the starting point, the planning end point and the planning path point, the first two points and the second two points respectively form a parallel straight line connection relation in the same direction, and the third point takes the second point as a vertex to form a right angle relation with the first two points, so that the AGV reaches the fourth point from the first point in a lane changing mode.
6. The A-star algorithm based single steering wheel AGV path planning system of claim 4, wherein the path A-star planning module further comprises:
if four points exist in the range of the starting point, the planning end point and the planning path point, the first two points and the second two points respectively form a parallel and opposite straight line connection relationship, and the third point takes the second point as a vertex to form a right angle relationship with the first two points, so that the AGV reaches the fourth point from the first point in a U-turn manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110584156.9A CN113310492B (en) | 2021-05-27 | 2021-05-27 | Single-steering-wheel AGV path planning method and system based on A-star algorithm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110584156.9A CN113310492B (en) | 2021-05-27 | 2021-05-27 | Single-steering-wheel AGV path planning method and system based on A-star algorithm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113310492A CN113310492A (en) | 2021-08-27 |
| CN113310492B true CN113310492B (en) | 2023-04-14 |
Family
ID=77375582
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110584156.9A Active CN113310492B (en) | 2021-05-27 | 2021-05-27 | Single-steering-wheel AGV path planning method and system based on A-star algorithm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113310492B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07248819A (en) * | 1994-03-08 | 1995-09-26 | Mitsubishi Heavy Ind Ltd | Track control method for automatic running vehicle |
| CN105737838A (en) * | 2016-02-22 | 2016-07-06 | 广东嘉腾机器人自动化有限公司 | AGV path tracking method |
| CN106740868A (en) * | 2016-12-30 | 2017-05-31 | 东软集团股份有限公司 | A kind of method of speed planning, device and equipment |
| CN110207716A (en) * | 2019-04-26 | 2019-09-06 | 纵目科技（上海）股份有限公司 | It is a kind of to refer to driving line rapid generation, system, terminal and storage medium |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4940925A (en) * | 1985-08-30 | 1990-07-10 | Texas Instruments Incorporated | Closed-loop navigation system for mobile robots |
| JPS63231506A (en) * | 1987-03-20 | 1988-09-27 | Hitachi Ltd | Automatically guided vehicle |
| CN101750090B (en) * | 2009-12-30 | 2011-08-10 | 东软集团股份有限公司 | Navigation unit by utilizing track points to navigate |
| JP6263970B2 (en) * | 2013-11-11 | 2018-01-24 | 村田機械株式会社 | Data structure of autonomous traveling vehicle and planned traveling route data |
| CN106020200B (en) * | 2016-07-07 | 2019-05-28 | 江苏上骐集团有限公司 | Using the AGV trolley and paths planning method of In-wheel motor driving |
| CN107727099A (en) * | 2017-09-29 | 2018-02-23 | 山东大学 | The more AGV scheduling of material transportation and paths planning method in a kind of factory |
| CN107990903B (en) * | 2017-12-29 | 2021-01-05 | 东南大学 | Indoor AGV path planning method based on improved A-x algorithm |
| CN108469827A (en) * | 2018-05-16 | 2018-08-31 | 江苏华章物流科技股份有限公司 | A kind of automatic guided vehicle global path planning method suitable for logistic storage system |
| CN110567459B (en) * | 2018-06-05 | 2021-09-07 | 北京京东乾石科技有限公司 | Path planning method and device |
| CN109556610B (en) * | 2018-11-27 | 2021-06-11 | 山东大学 | Path planning method, controller and system |
| CN110285821A (en) * | 2019-06-20 | 2019-09-27 | 南京农业大学 | A kind of AGV Transport Vehicle method for optimizing route based on intelligent parking lot |
| CN110440824A (en) * | 2019-08-27 | 2019-11-12 | 广州小鹏汽车科技有限公司 | A kind of paths planning method and path planning system |
| CN112666945A (en) * | 2020-12-18 | 2021-04-16 | 广东嘉腾机器人自动化有限公司 | AGV curve path optimization method |
-
2021
- 2021-05-27 CN CN202110584156.9A patent/CN113310492B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07248819A (en) * | 1994-03-08 | 1995-09-26 | Mitsubishi Heavy Ind Ltd | Track control method for automatic running vehicle |
| CN105737838A (en) * | 2016-02-22 | 2016-07-06 | 广东嘉腾机器人自动化有限公司 | AGV path tracking method |
| CN106740868A (en) * | 2016-12-30 | 2017-05-31 | 东软集团股份有限公司 | A kind of method of speed planning, device and equipment |
| CN110207716A (en) * | 2019-04-26 | 2019-09-06 | 纵目科技（上海）股份有限公司 | It is a kind of to refer to driving line rapid generation, system, terminal and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113310492A (en) | 2021-08-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021180035A1 (en) | Parking path planning method and apparatus, vehicle, and storage medium | |
| CN110278405B (en) | Method, device and system for processing lateral image of automatic driving vehicle | |
| CN110595475A (en) | Tracking path fitting method and device, intelligent automobile and storage medium | |
| CN110836671B (en) | Trajectory planning method, trajectory planning device, storage medium, and electronic apparatus | |
| Yoon et al. | Spline-based RRT∗ using piecewise continuous collision-checking algorithm for Car-like vehicles | |
| CN109885070B (en) | Motion control method and motion control equipment of robot and automatic warehousing system | |
| CN109928129B (en) | Control method of automatic guided vehicle, automatic guided vehicle and cargo handling system | |
| CN114791288B (en) | Method and device for planning driving path of mine vehicle and computer equipment | |
| US20190276011A1 (en) | Parking support apparatus | |
| CN107589742A (en) | Automatical pilot transportation vehicle control method, device and computer-readable recording medium | |
| CN111819419A (en) | Deformation correction of a digital map for a vehicle | |
| WO2022148441A1 (en) | Vehicle parking planning method and apparatus, and device and computer storage medium | |
| CN113310492B (en) | Single-steering-wheel AGV path planning method and system based on A-star algorithm | |
| CN112706760B (en) | Unmanned parking path planning method for special road scene | |
| Meng et al. | Improved hybrid A-star algorithm for path planning in autonomous parking system based on multi-stage dynamic optimization | |
| CN115871709A (en) | Method, device, equipment, medium and vehicle for planning station-entering track of automatic driving vehicle | |
| CN113553881A (en) | Parking space detection method and related device | |
| CN116360420A (en) | CLF-CBF optimized unmanned vehicle motion planning control method | |
| CN115752501A (en) | Navigation path recommendation method, device, equipment and storage medium | |
| CN115562290A (en) | Robot path planning method based on A-star penalty control optimization algorithm | |
| CN116358576A (en) | Bezier curve-based automatic driving vehicle turning-around path and track planning method | |
| CN113534702A (en) | Control method, device, equipment and storage medium | |
| Chen et al. | Research and application of improved pure pursuit algorithm in low-speed driverless vehicle system | |
| CN114296452B (en) | Automatic parking path planning method, equipment and computer readable storage medium | |
| CN113805578A (en) | Unmanned vehicle path optimization method and related equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |