CN110530388B - 多agv的路径规划方法及系统 - Google Patents
多agv的路径规划方法及系统 Download PDFInfo
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- CN110530388B CN110530388B CN201910837581.7A CN201910837581A CN110530388B CN 110530388 B CN110530388 B CN 110530388B CN 201910837581 A CN201910837581 A CN 201910837581A CN 110530388 B CN110530388 B CN 110530388B
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- 238000000034 method Methods 0.000 title claims abstract description 58
- 238000013178 mathematical model Methods 0.000 claims description 7
- 238000010845 search algorithm Methods 0.000 claims description 6
- 230000002068 genetic effect Effects 0.000 claims description 4
- 239000002245 particle Substances 0.000 claims description 4
- 238000002922 simulated annealing Methods 0.000 claims description 4
- 238000012216 screening Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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- 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
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
Description
Claims (8)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910837581.7A CN110530388B (zh) | 2019-09-05 | 2019-09-05 | 多agv的路径规划方法及系统 |
CA3153599A CA3153599A1 (en) | 2019-09-05 | 2020-06-24 | Multi-agv routing method and system thereof |
PCT/CN2020/097862 WO2021042827A1 (zh) | 2019-09-05 | 2020-06-24 | 多agv的路径规划方法及系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN201910837581.7A CN110530388B (zh) | 2019-09-05 | 2019-09-05 | 多agv的路径规划方法及系统 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110530388A CN110530388A (zh) | 2019-12-03 |
CN110530388B true CN110530388B (zh) | 2021-08-27 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201910837581.7A Active CN110530388B (zh) | 2019-09-05 | 2019-09-05 | 多agv的路径规划方法及系统 |
Country Status (3)
Country | Link |
---|---|
CN (1) | CN110530388B (zh) |
CA (1) | CA3153599A1 (zh) |
WO (1) | WO2021042827A1 (zh) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110530388B (zh) * | 2019-09-05 | 2021-08-27 | 苏宁云计算有限公司 | 多agv的路径规划方法及系统 |
CN111191847B (zh) * | 2019-12-31 | 2022-10-14 | 苏宁云计算有限公司 | 考虑订单聚合度的配送路径规划方法与系统 |
CN111459108B (zh) * | 2020-04-08 | 2021-07-06 | 北京理工大学 | 拖挂式多agv系统的任务分配及无冲突路径规划方法 |
CN113673919A (zh) * | 2020-05-15 | 2021-11-19 | 北京京东乾石科技有限公司 | 多车协同路径确定方法及装置、电子设备和存储介质 |
CN113762575B (zh) * | 2020-12-02 | 2024-05-21 | 北京京东乾石科技有限公司 | 输送线路径优化方法和装置 |
CN112223301B (zh) * | 2020-12-17 | 2021-04-13 | 江西赛特智能科技有限公司 | 一种机器人路径规划及调度方法 |
CN112797999B (zh) * | 2020-12-24 | 2022-06-03 | 上海大学 | 一种多无人艇协同遍历路径规划方法及系统 |
CN112833905B (zh) * | 2021-01-08 | 2022-09-27 | 北京大学 | 基于改进a*算法的分布式多agv无碰撞路径规划方法 |
CN113093722A (zh) * | 2021-02-20 | 2021-07-09 | 意欧斯物流科技(上海)有限公司 | 一种agv智能路径规划及模糊控制方法 |
CN113377102A (zh) * | 2021-04-29 | 2021-09-10 | 中联重科土方机械有限公司 | 用于挖掘机的控制方法、处理器、装置及挖掘机 |
CN114967711B (zh) * | 2022-07-04 | 2023-05-12 | 江苏集萃清联智控科技有限公司 | 一种基于动态加权地图的多agv协同路径规划方法及系统 |
CN115293711B (zh) * | 2022-10-08 | 2022-12-20 | 南通海隼信息科技有限公司 | 一种用于智能仓储的优化方法 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106251016B (zh) * | 2016-08-01 | 2019-05-07 | 江苏海事职业技术学院 | 一种基于动态时间窗的泊车系统路径规划方法 |
KR101933949B1 (ko) * | 2016-12-27 | 2019-01-02 | 부산대학교 산학협력단 | 컨테이너 터미널의 차선 주행 방향 결정 시스템 및 방법 |
CN106652522B (zh) * | 2016-12-30 | 2020-09-22 | 北京邮电大学 | 一种基于车速的路径规划方法 |
MX2020000996A (es) * | 2017-07-28 | 2020-07-20 | Crown Equip Corp | Administracion del trafico para vehiculos de manipulacion de materiales en un entorno de almacen. |
CN108764579B (zh) * | 2018-06-01 | 2021-09-07 | 成都交大光芒科技股份有限公司 | 一种基于拥塞控制的仓储多机器人任务调度方法 |
CN109144051A (zh) * | 2018-07-03 | 2019-01-04 | 上海交通大学 | 仓储物流环境下的完整性多agv调度方法及系统 |
CN109032149B (zh) * | 2018-10-12 | 2020-12-11 | 盐城工学院 | 一种基于栅格地图的多移动机器人平衡防死锁路径规划方法 |
CN109839935B (zh) * | 2019-02-28 | 2020-08-25 | 华东师范大学 | 多agv的路径规划方法及设备 |
CN110081894B (zh) * | 2019-04-25 | 2023-05-12 | 同济大学 | 一种基于道路结构权值融合的无人车轨迹实时规划方法 |
CN110530388B (zh) * | 2019-09-05 | 2021-08-27 | 苏宁云计算有限公司 | 多agv的路径规划方法及系统 |
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2019
- 2019-09-05 CN CN201910837581.7A patent/CN110530388B/zh active Active
-
2020
- 2020-06-24 WO PCT/CN2020/097862 patent/WO2021042827A1/zh active Application Filing
- 2020-06-24 CA CA3153599A patent/CA3153599A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
CA3153599A1 (en) | 2021-03-11 |
CN110530388A (zh) | 2019-12-03 |
WO2021042827A1 (zh) | 2021-03-11 |
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Address after: No.1-1 Suning Avenue, Xuzhuang Software Park, Xuanwu District, Nanjing, Jiangsu Province, 210000 Patentee after: Jiangsu Suning cloud computing Co.,Ltd. Address before: No.1-1 Suning Avenue, Xuzhuang Software Park, Xuanwu District, Nanjing, Jiangsu Province, 210000 Patentee before: Suning Cloud Computing Co.,Ltd. |
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Effective date of registration: 20240207 Address after: Room 3104, Building A5, No. 3 Gutan Avenue, Economic Development Zone, Gaochun District, Nanjing City, Jiangsu Province, 210000 Patentee after: Jiangsu Biying Technology Co.,Ltd. Country or region after: China Address before: No.1-1 Suning Avenue, Xuzhuang Software Park, Xuanwu District, Nanjing, Jiangsu Province, 210000 Patentee before: Jiangsu Suning cloud computing Co.,Ltd. Country or region before: China |
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