CN109556610A - A kind of paths planning method, controller and system - Google Patents
A kind of paths planning method, controller and system Download PDFInfo
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Abstract
Present disclose provides a kind of paths planning method, controller and systems.Wherein, a kind of based on the paths planning method for improving A algorithm, comprising: path planning is carried out to all AGV using A* algorithm is improved, records all paths；Wherein, improve the cumulative of the path length that actual cost from starting point to present node in the heuristic function of A* algorithm is equal to moving distance from starting point to present node and turning bring time loss is converted to and；The number for counting the appearance of each section of path, when there are a certain section of path of AGV approach, then the AGV quantity of pre-planning gradually subtracts 1 in respective paths, obtains physical planning AGV quantity on all paths；The quantity in the physical planning AGV quantity in each section of path and all paths is made into ratio, evaluates the busy extent in each section of path；By the busy extent in each section of path and the cumulative weight as respective paths of 1 phase, and then calculate all paths after weighting；Path planning is carried out to all AGV based on all paths after weighting.
Description
Technical field
The disclosure belongs to path planning field more particularly to a kind of paths planning method, controller and system.
Background technique
Only there is provided background technical informations relevant to the disclosure for the statement of this part, it is not necessary to so constitute first skill
Art.
With the development of social productive forces and science and technology and the raising of labor cost, the storehouse of traditional manpower sum
Storage system logistics mode can no longer meet the demand of modern logistics, then production automation and the automation of logistics system are
As the trend of social development, AGV (Automated Guided Vehicle, automated guided vehicle) system combines calculating
The integrated application of the science and technology such as machine, automatic control, for improving automated production and reduction production cost, promoting social development
It is of great significance.And the path planning of AGV is the important basis of AGV system, the evaluation index of paths planning method has:
Shortest path length, The shortest operation time, peak use rate of AGV etc., the classic algorithm of path planning algorithm mainly has:
Dijkstra's algorithm, A* algorithm, genetic algorithm etc.；Each algorithm has the advantage and disadvantage of oneself；Dijkstra's algorithm is based on wide
Degree is preferential, and one surely finds shortest path, but time complexity is excessively high, has searched for many unnecessary points；Genetic algorithm
It is the process of a random search during finding globally optimal solution, when node increases, search time is longer, and holds
Easily there is precocious phenomenon；A* algorithm is band heuristic search algorithm, and it is fast can to acquire the solution close to optimal solution, solving speed
And it is high-efficient and by wide use.
Inventor has found that traditional A* algorithm does not account for the consumption at node turning, and only carries out simple road
Diameter planning, to path conflict without a kind of prevention well.
Summary of the invention
According to one or more other embodiments of the present disclosure, provide a kind of paths planning method, one side, be added turning because
The path of planning can be made more reasonable after element, so that AGV is made to carry out less turning as far as possible；On the other hand pass through power
Value path improves the busy extent in path, solves part path conflict, eases off the pressure for the AGV scheduling in later period, and then save
Resource consumption.
A kind of paths planning method of the disclosure, comprising:
Path planning is carried out to all AGV using A* algorithm is improved, records all paths；Wherein, opening for A* algorithm is improved
The moving distance that actual cost in hairdo function from starting point to present node is equal to from starting point to present node is brought with turning
The path length that is converted to of time loss cumulative and；
The number for counting the appearance of each section of path, when there are a certain section of path of AGV approach, then pre-plannings in respective paths
AGV quantity gradually subtracts 1, obtains physical planning AGV quantity on all paths；
The quantity in the physical planning AGV quantity in each section of path and all paths is made into ratio, evaluates each section of path
Busy extent；
By the cumulative weight as respective paths of the busy extent in each section of path and 1 phase, and then after calculating and weighting
All paths；
Path planning is carried out to all AGV based on all paths after weighting.
In one or more embodiments, the AGV quantity initial value of pre-planning is to pass through corresponding path on all paths
AGV sum.
In one or more embodiments, the calculating process for the path length that turning bring time loss is converted to are as follows:
During turning, if AGV decelerates to the first pre-set velocity first by the uniform velocity reducing speed now；Then it at the uniform velocity goes again
It sails to stop position；It reaches rest position to be stopped, then turning, further accelerate to the second pre-set velocity；Finally press
It is driven at a constant speed according to the second pre-set velocity；According to the relationship between known deceleration, acceleration, speed, time and distance, turned
The time of curved actual consumption；
If AGV at the uniform velocity advances, and obtains by turnaround section path integration at the path (i.e. straight trip path) of isometric no turning
Drive at a constant speed the time of isometric routing cost；
According to the difference and known at the uniform velocity speed of the time of turning actual consumption and the time for driving at a constant speed isometric routing cost
Degree obtains the path length that turning bring time loss is converted to.
In one or more embodiments, the heuristic function for improving A* algorithm indicates are as follows:
To the valuation functions of each point be equal to actual cost from starting point to present node with from present node to terminal
Apart from assessed value it is cumulative and.
According to one or more other embodiments of the present disclosure, a kind of path planning controller is provided, turning is added in one side
The path of planning can be made more reasonable after factor, so that AGV is made to carry out less turning as far as possible；On the other hand pass through
Weight path improves the busy extent in path, solves part path conflict, eases off the pressure for the AGV scheduling in later period, Jin Erjie
About resource consumption.
A kind of path planning controller of the disclosure, comprising:
Path initial plan module is configured as recording institute using A* algorithm is improved to all AGV progress path planning
There is path；Wherein, actual cost from starting point to present node in the heuristic function of A* algorithm is improved to be equal to from starting point to working as
The path length that the moving distance of front nodal point and turning bring time loss are converted to cumulative and；
Practical AGV quantity planning module is configured as counting the number for occurring AGV appearance on each section of path, when depositing
In a certain section of path of AGV approach, then the AGV quantity of pre-planning gradually subtracts 1 in respective paths, obtains physical planning on all paths
AGV quantity；
Route busy scale evaluation module is configured as the physical planning AGV quantity in each section of path and all roads
The quantity of diameter makees ratio, evaluates the busy extent in each section of path；
Weight path computing module is configured as the busy extent in each section of path is cumulative as corresponding road to 1 phase
The weight of diameter, and then calculate all paths after weighting；
Weight path planning module, all paths after being configured as based on weighting carry out path planning to all AGV.
In one or more embodiments, in the practical AGV quantity planning module, pre-planning on all paths
AGV quantity initial value is the sum of the AGV occurred on corresponding path.
In one or more embodiments, in the path initial plan module, turning bring time loss conversion
At path length calculating process are as follows:
During turning, if AGV decelerates to the first pre-set velocity first by the uniform velocity reducing speed now；Then it at the uniform velocity goes again
It sails to stop position；It reaches rest position to be stopped, then turning, further accelerate to the second pre-set velocity；Finally press
It is driven at a constant speed according to the second pre-set velocity；According to the relationship between known deceleration, acceleration, speed, time and distance, turned
The time of curved actual consumption；
If AGV at the uniform velocity advances, and obtains by turnaround section path integration at the path (i.e. straight trip path) of isometric no turning
Drive at a constant speed the time of isometric routing cost；
According to the difference and known at the uniform velocity speed of the time of turning actual consumption and the time for driving at a constant speed isometric routing cost
Degree obtains the path length that turning bring time loss is converted to.
In one or more embodiments, in the path initial plan module, the heuristic function of A* algorithm is improved
It indicates are as follows:
To the valuation functions of each point be equal to actual cost from starting point to present node with from present node to terminal
Apart from assessed value it is cumulative and.
According to one or more other embodiments of the present disclosure, a kind of path planning control system is provided, one side is added and turns
The path of planning can be made more reasonable after curved factor, so that AGV is made to carry out less turning as far as possible；On the other hand logical
Weight path is crossed to improve the busy extent in path, solves part path conflict, is eased off the pressure for the AGV scheduling in later period, in turn
Economize on resources consumption.
A kind of path planning system of the disclosure, including path planning controller described above.
In one or more embodiments, the path planning controller is also connected with memory.
Compared with prior art, the beneficial effect of the disclosure is:
(1) disclosure is on the basis of traditional A* algorithm, firstly, moving distance and turning band from starting point to present node
The path length that is converted to of time loss come cumulative and the actual cost from starting point to present node is obtained, to all AGV
Path initial plan is carried out, because turning has regular hour consumption, and the time is the evaluation criterion of path planning, so
Turning factor is added can make the path of planning more reasonable later, so that making AGV carry out less turning as far as possible, in this way
More economize on resources；
(2) quantity in the physical planning AGV quantity in each section of path and all paths is made ratio by the disclosure, is evaluated every
This concept of weight path is added in the busy extent of stretch diameter, is because having planned later it is to have road certainly with initial path
Diameter conflict, busy extent is indicated by the number of record path planning, the high path of busy extent generates the possibility of conflict
Property it is maximum, so improving the busy extent in path by weight path, and then solve part path conflict, be the AGV in later period
Scheduling eases off the pressure, and then the consumption that economizes on resources.
Detailed description of the invention
The Figure of description for constituting a part of this disclosure is used to provide further understanding of the disclosure, and the disclosure is shown
Meaning property embodiment and its explanation do not constitute the improper restriction to the disclosure for explaining the disclosure.
Fig. 1 is a kind of paths planning method flow chart of the disclosure.
Fig. 2 is turning embodiment flow chart.
Fig. 3 is a kind of path planning controller architecture schematic diagram of the disclosure.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the disclosure.Unless another
It indicates, all technical and scientific terms used herein has usual with disclosure person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the disclosure.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Term explains part:
A* algorithm, A* (A-Star) algorithm are to solve the most effective direct search side of shortest path in a kind of static road network
Method, and solve the problems, such as the efficient algorithm of many search.Range estimation value and actual value in algorithm is closer, final search speed
It spends faster.A* algorithm is band heuristic search algorithm, and it is fast and high-efficient can to acquire the solution close to optimal solution, solving speed.
The calculation formula that the heuristic function of A* algorithm uses is:
F (n)=G (n)+H (n)
Wherein, F (n) is exactly valuation functions of the A* algorithm to each point, it includes two parts information, and one is G (n), separately
One is H (n)；
G (n) is the actual cost represented from starting point to present node n, that is, the movement from starting point to present node away from
From；
H (n) is from present node n to terminal apart from assessed value, that is, a distance from present node to terminal
Assessed value.
Improvement A* algorithm in the disclosure is based on what traditional A* algorithm obtained.
Fig. 1 is a kind of paths planning method flow chart of the disclosure.
As shown in Figure 1, a kind of paths planning method of the disclosure, comprising:
S110: path planning is carried out to all AGV using A* algorithm is improved, records all paths；Wherein, A* algorithm is improved
Heuristic function in actual cost from starting point to present node be equal to moving distance and turning from starting point to present node
The path length that bring time loss is converted to cumulative and.
Specifically, the heuristic function for improving A* algorithm indicates are as follows:
To the valuation functions F of each point1(n) it is equal to the actual cost G from starting point to present node1(n) and from present node
To terminal apart from assessed value H (n) it is cumulative and.
From present node to terminal apart from assessed value H (n), that is, a distance from present node to terminal is commented
Valuation.
Specifically, the calculating process for the path length that turning bring time loss is converted to are as follows:
During turning, if AGV decelerates to the first pre-set velocity first by the uniform velocity reducing speed now；Then it at the uniform velocity goes again
It sails to stop position；It reaches rest position to be stopped, then turning, further accelerate to the second pre-set velocity；Finally press
It is driven at a constant speed according to the second pre-set velocity；According to the relationship between known deceleration, acceleration, speed, time and distance, turned
The time of curved actual consumption；
If AGV at the uniform velocity advances, and obtains by turnaround section path integration at the path (i.e. straight trip path) of isometric no turning
Drive at a constant speed the time of isometric routing cost；
Difference and known uniform velocity according to the time of turning actual consumption with the time for consumption of at the uniform velocity turning, are turned
The path length that curved bring time loss is converted to.
As shown in Fig. 2, AGV is needed in the s apart from node every time when turning0Speed is reduced to 0.2m/ at=1m
s；And acceleration a can be from the calculating of the revolving speed of motor are as follows: a=0.5m/s2；
So this section of deceleration distance can be according to physical motion formula
v1 2-v2 2=2ax
Obtain this section of deceleration distance s1=0.24m, required time are t10=0.4s；
Then moving to turning to stop the required time immediately is t11=0.2/0.2=1s；
Carrying out turning elapsed time t12=1s；
Again from speed 0 with 2m/s2Acceleration accelerate to 1m/s；Need time t13=0.5s；
Acceleration distance is s2=0.25m.
The process of this section of turning is:
First by the uniform velocity reducing speed now, 0.2m/s is decelerated to, then driving at a constant speed again (can by experiment test to stop position
Must stop so more stable), it then turns, further accelerates to 1m/s, and then drive at a constant speed the total time t of consumption1Can by with
Lower formula calculates:
t1=t10+t11+t12+t13
: t1=0.4+1+1+0.5=2.9s；
The time t required for without slowing down (namely straight-line travelling)0It can be calculated by following formula
t0=(s0+s1+s2)/v1
: t0=(0.24+1+0.25)/1=1.49s；
So the time is to increase 1.51s；Being converted to distance corresponding to original speed (1m/s) should be 1.51m；
Then available improved actual cost function and evaluation function:
Gt(n)=G (n)+1.51m
F1(n)=G1(n)+H(n)。
It should be noted that above data and formula are according to calculated by experimental situation and parameter setting, with experimental ring
Border is related.
S120: the number that AGV occurs on each section of path of statistics, when there are a certain section of path of AGV approach, then respective paths
The AGV quantity of upper pre-planning gradually subtracts 1, obtains physical planning AGV quantity on all paths.
Specifically, on all paths the AGV quantity initial value of pre-planning be AGV sum.
It is counted according to the number that each section of path occurs in the path recorded, and records ni；N indicates all roads
The number of diameter；I=1,2 ..., N.
M indicates the set of AGV quantity on partition path；miIt is each section of path planning when what is indicated is system operation
The quantity of AGV；If there is AGV is by the path, then this miJust subtract 1.
S130: the quantity in the physical planning AGV quantity in each section of path and all paths is made into ratio, evaluates each section
The busy extent in path
S140: by the busy extent in each section of pathIt is cumulative as respective paths L with 1 phaseiWeight, and then calculate
All path L after weightingi *。
Path L after weightingi *；
S150: path planning is carried out to all AGV based on all paths after weighting.
The disclosure is on the basis of traditional A* algorithm, firstly, the moving distance from starting point to present node is brought with turning
The path length that is converted to of time loss cumulative and obtain the actual cost from starting point to present node, to all AGV into
Walking along the street diameter initial plan, because turning has regular hour consumption, and the time is the evaluation criterion of path planning, so plus
Entering turning factor can make the path of planning more reasonable later, so that making AGV carry out less turning as far as possible, so more
It economizes on resources；
The quantity in the physical planning AGV quantity in each section of path and all paths is made ratio by the disclosure, is evaluated each
The busy extent in section path, is added this concept of weight path, is because having planned later it is to have path certainly with initial path
Conflict, busy extent is indicated by the number of record path planning, the high path of busy extent generates a possibility that conflicting
Maximum so improving the busy extent in path by weight path, and then solves part path conflict, is the AGV tune in later period
Degree eases off the pressure, and then the consumption that economizes on resources.
Fig. 3 is a kind of path planning controller architecture schematic diagram of the disclosure.
As shown in figure 3, a kind of path planning controller of the disclosure, comprising:
(1) path initial plan module is configured as remembering using A* algorithm is improved to all AGV progress path planning
Record all paths；Wherein, the actual cost in the heuristic function of A* algorithm from starting point to present node is improved to be equal to from starting point
To the moving distance of present node and the path length that is converted to of turning bring time loss cumulative and.
Specifically, the heuristic function for improving A* algorithm indicates are as follows:
To the valuation functions F of each point1(n) it is equal to the actual cost G from starting point to present node1(n) and from present node
To terminal apart from assessed value H (n) it is cumulative and.
From present node to terminal apart from assessed value H (n), that is, a distance from present node to terminal is commented
Valuation.
Specifically, the calculating process for the path length that turning bring time loss is converted to are as follows:
During turning, if AGV decelerates to the first pre-set velocity first by the uniform velocity reducing speed now；Then it at the uniform velocity goes again
It sails to stop position；Then it turns, further accelerates to the second pre-set velocity；Finally driven at a constant speed according to the second pre-set velocity；
According to the relationship between known deceleration, acceleration, speed, time and distance, the time of turning actual consumption is obtained；
If AGV at the uniform velocity advances, and obtains by turnaround section path integration at the path (i.e. straight trip path) of isometric no turning
Drive at a constant speed the time of isometric routing cost；
Difference and known uniform velocity according to the time of turning actual consumption with the time for consumption of at the uniform velocity turning, are turned
The path length that curved bring time loss is converted to.
As shown in Fig. 2, AGV is needed in the s apart from node every time when turning0Speed is reduced to 0.2m/ at=1m
s；And acceleration a can be from the calculating of the revolving speed of motor are as follows: a=0.5m/s2；
So this section of deceleration distance can be according to physical motion formula
v1 2-v2 2=2ax
Obtain this section of deceleration distance s1=0.24m, required time are t10=0.4s；
Then moving to turning to stop the required time immediately is t11=0.2/0.2=1s；
Carrying out turning elapsed time t12=1s；
Again from speed 0 with 2m/s2Acceleration accelerate to 1m/s；Need time t13=0.5s；
Acceleration distance is s2=0.25m.
The process of this section of turning is:
First by the uniform velocity reducing speed now, 0.2m/s is decelerated to, then driving at a constant speed again (can by experiment test to stop position
Must stop so more stable), it then turns, further accelerates to 1m/s, and then drive at a constant speed the total time t of consumption1Can by with
Lower formula calculates:
t1=t10+t11+t12+t13
: t1=0.4+1+1+0.5=2.9s；
The time t required for without slowing down (namely straight-line travelling)0It can be calculated by following formula
t0=(s0+s1+s2)/v1
: t0=(0.24+1+0.25)/1=1.49s；
So the time is to increase 1.51s；Being converted to distance corresponding to original speed (1m/s) should be 1.51m；
Then available improved actual cost function and evaluation function:
G1(n)=G (n)+1.51m
F1(n)=G1(n)+H(n)。
It should be noted that above data and formula are according to calculated by experimental situation and parameter setting, with experimental ring
Border is related.
(2) practical AGV quantity planning module is configured as counting the number that AGV occurs on each section of path, works as presence
A certain section of path of AGV approach, then the AGV quantity of pre-planning gradually subtracts 1 in respective paths, obtains physical planning on all paths
AGV quantity.
Specifically, the AGV quantity initial value of pre-planning is sum by the AGV in this section of path on all paths.
It is counted according to the number that each section of path occurs in the path recorded, and records ni；N indicates all roads
The number of diameter；I=1,2 ..., N.
M indicates the set of AGV quantity on partition path；miIt is each section of path planning when what is indicated is system operation
The quantity of AGV；If there is AGV is by the path, then this miJust subtract 1.
(3) route busy scale evaluation module is configured as the physical planning AGV quantity in each section of path and owns
The quantity in path makees ratio, evaluates the busy extent in each section of path
(4) weight path computing module is configured as the busy extent in each section of pathIt is cumulative as phase with 1 phase
Answer path LiWeight, and then calculate weighting after all path Li *。
Path L after weightingi *；
(5) weight path planning module, all paths after being configured as based on weighting carry out path rule to all AGV
It draws.
The disclosure is on the basis of traditional A* algorithm, firstly, the moving distance from starting point to present node is brought with turning
The path length that is converted to of time loss cumulative and obtain the actual cost from starting point to present node, to all AGV into
Walking along the street diameter initial plan, because turning has regular hour consumption, and the time is the evaluation criterion of path planning, so plus
Entering turning factor can make the path of planning more reasonable later, so that making AGV carry out less turning as far as possible, so more
It economizes on resources；
The quantity in the physical planning AGV quantity in each section of path and all paths is made ratio by the disclosure, is evaluated each
The busy extent in section path, is added this concept of weight path, is because having planned later it is to have path certainly with initial path
Conflict, busy extent is indicated by the number of record path planning, the high path of busy extent generates a possibility that conflicting
Maximum so improving the busy extent in path by weight path, and then solves part path conflict, is the AGV tune in later period
Degree eases off the pressure, and then the consumption that economizes on resources.
A kind of path planning system of the disclosure, including path planning controller as shown in Figure 3.
In one or more embodiments, the path planning controller is also connected with memory.
Memory is used for store path planing method step, and path planning controller is used to transfer the storage journey in memory
Sequence and execution route planing method step.
It should be understood by those skilled in the art that, embodiment of the disclosure can provide as method, system or computer program
Product.Therefore, the shape of hardware embodiment, software implementation or embodiment combining software and hardware aspects can be used in the disclosure
Formula.Moreover, the disclosure, which can be used, can use storage in the computer that one or more wherein includes computer usable program code
The form for the computer program product implemented on medium (including but not limited to magnetic disk storage and optical memory etc.).
The disclosure be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random
AccessMemory, RAM) etc..
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to the disclosure, model not is protected to the disclosure
The limitation enclosed, those skilled in the art should understand that, on the basis of the technical solution of the disclosure, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within the protection scope of the disclosure.
Claims (10)
1. a kind of paths planning method characterized by comprising
Path planning is carried out to all AGV using A* algorithm is improved, records all paths；Wherein, the heuristic of A* algorithm is improved
When actual cost in function from starting point to present node is equal to moving distance and turning bring from starting point to present node
Between consume the cumulative of the path length being converted to and；
The number for counting the appearance of each section of path, when there are a certain section of paths of AGV approach, then in respective paths pre-planning AGV
Quantity gradually subtracts 1, obtains physical planning AGV quantity on all paths；
The quantity in the physical planning AGV quantity in each section of path and all paths is made into ratio, evaluates the numerous of each section of path
Busy degree；
By the busy extent in each section of path and the cumulative weight as respective paths of 1 phase, and then calculate all after weighting
Path；
Path planning is carried out to all AGV based on all paths after weighting.
2. a kind of paths planning method as described in claim 1, which is characterized in that the AGV quantity of pre-planning on all paths
Initial value is the sum of the AGV occurred on corresponding path.
3. a kind of paths planning method as described in claim 1, which is characterized in that turning bring time loss is converted to
The calculating process of path length are as follows:
During turning, if AGV decelerates to the first pre-set velocity first by the uniform velocity reducing speed now；Then drive at a constant speed again to
Stop position；It reaches rest position to be stopped, then turning, further accelerate to the second pre-set velocity；Finally according to
Two pre-set velocities drive at a constant speed；According to the relationship between known deceleration, acceleration, speed, time and distance, it is real to obtain turning
The time of border consumption；
If AGV at the uniform velocity advances by turnaround section path integration at the path of isometric no turning, obtain driving at a constant speed isometric path
The time of consumption；
Difference and known uniform velocity according to the time of turning actual consumption with the time for consumption of at the uniform velocity turning obtain turning band
The path length that the time loss come is converted to.
4. a kind of paths planning method as described in claim 1, which is characterized in that the heuristic function for improving A* algorithm indicates
Are as follows:
Actual cost from starting point to present node is equal at a distance from from present node to terminal to the valuation functions of each point
Assessed value it is cumulative and.
5. a kind of path planning controller characterized by comprising
Path initial plan module is configured as recording all roads using A* algorithm is improved to all AGV progress path planning
Diameter；Wherein, actual cost from starting point to present node in the heuristic function of A* algorithm is improved to be equal to from starting point to working as prosthomere
The moving distance of point and the cumulative of the path length that is converted to of turning bring time loss and；
Practical AGV quantity planning module is configured as counting the number that the AGV on each section of path occurs, when there are the ways AGV
A certain section of path of diameter, then the AGV quantity of pre-planning gradually subtracts 1 in respective paths, obtains physical planning AGV number on all paths
Amount；
Route busy scale evaluation module is configured as the physical planning AGV quantity in each section of path and all paths
Quantity makees ratio, evaluates the busy extent in each section of path；
Weight path computing module is configured as the busy extent in each section of path is cumulative as respective paths with 1 phase
Weight, and then calculate all paths after weighting；
Weight path planning module, all paths after being configured as based on weighting carry out path planning to all AGV.
6. a kind of path planning controller as claimed in claim 5, which is characterized in that plan mould in the practical AGV quantity
In block, the AGV quantity initial value of pre-planning on all paths is the sum of the AGV occurred on corresponding path.
7. a kind of path planning controller as claimed in claim 5, which is characterized in that in the path initial plan module
In, the calculating process for the path length that turning bring time loss is converted to are as follows:
During turning, if AGV decelerates to the first pre-set velocity first by the uniform velocity reducing speed now；Then drive at a constant speed again to
Stop position；It reaches rest position to be stopped, then turning, further accelerate to the second pre-set velocity；Finally according to
Two pre-set velocities drive at a constant speed；According to the relationship between known deceleration, acceleration, speed, time and distance, it is real to obtain turning
The time of border consumption；
If AGV at the uniform velocity advances by turnaround section path integration at the path of isometric no turning, obtain driving at a constant speed isometric path
The time of consumption；
Difference and known uniform velocity according to the time of turning actual consumption with the time for consumption of at the uniform velocity turning obtain turning band
The path length that the time loss come is converted to.
8. a kind of path planning controller as claimed in claim 5, which is characterized in that in the path initial plan module
In, the heuristic function for improving A* algorithm indicates are as follows:
Actual cost from starting point to present node is equal at a distance from from present node to terminal to the valuation functions of each point
Assessed value it is cumulative and.
9. a kind of path planning system, which is characterized in that including the path planning control as described in any one of claim 5-8
Device.
10. a kind of path planning system as claimed in claim 9, which is characterized in that the path planning controller also with deposit
Reservoir is connected.
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