基于改进Dijkstra算法的泊车系统路径规划研究

发布时间：2018-08-21 10:47

【摘要】：为了解决智能车库中自动导引运输车(Automated Guided Vehicle,AGV)存取车路径规划问题和克服传统Dijkstra算法时间复杂度高、搜索范围大及搜索效率低等缺陷,提出了一种基于改进Dijkstra算法的泊车系统路径规划方法。首先以智能车库某时刻空闲泊车位的分布情况为背景,创建该时刻目标泊车位的带权无向图;其次,通过更改数据存储结构和引入双向搜索策略对传统Dijkstra算法进行改进;最后,以距离最短为评价指标,以传统Dijkstra算法和改进Dijkstra算法为路径寻优方法,在MATLAB环境下对AGV存取车路径规划过程进行仿真测试。结果表明:改进Dijkstra算法正确、可行及有效,与传统Dijkstra算法相比,能有效节省数据存储空间,减少搜索时间,提高搜索效率,可以满足AGV存取车路径规划要求。
[Abstract]:In order to solve the problem of (Automated Guided vehicle access vehicle path planning in intelligent garage and overcome the shortcomings of traditional Dijkstra algorithm, such as high time complexity, large search range and low search efficiency, etc. A path planning method for parking system based on improved Dijkstra algorithm is proposed. Firstly, based on the distribution of free parking spaces in intelligent garage at some time, the weighted undirected graph of the parking spaces is created. Secondly, the traditional Dijkstra algorithm is improved by changing the data storage structure and introducing the bidirectional search strategy. Taking the shortest distance as the evaluation index and the traditional Dijkstra algorithm and the improved Dijkstra algorithm as the path optimization method, the path planning process of the AGV access vehicle is simulated and tested under the MATLAB environment. The results show that the improved Dijkstra algorithm is correct, feasible and effective. Compared with the traditional Dijkstra algorithm, it can save the data storage space, reduce the search time and improve the search efficiency. It can meet the requirements of AGV access vehicle path planning.
【作者单位】：南京工业职业技术学院电气工程学院;南通大学机械工程学院;
【基金】：国家自然科学基金项目(51405246) 江苏省产学研联合创新资金项目(BY2014081-07) 南通市重点实验室项目(CP2014001) 南通市应用基础研究-工业创新项目(GY12016006)
【分类号】：U491.71

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