基于动态时间窗的泊车系统路径规划研究

发布时间：2018-04-03 23:56

本文选题：Dijkstra算法　切入点：时间窗　出处：《工程设计学报》2017年04期

【摘要】：针对智能立体停车库中自动导引运输车(automated guided vehicle,AGV)存取车路径规划问题,采用分时利用策略,将Dijkstra算法和时间窗法有效结合,提出了一种基于动态时间窗的泊车系统路径规划方法。首先,通过引入优先级策略为接收任务的AGV设定优先级;其次,采用Dijkstra算法,按照任务优先级高低次序,依次为接受任务的AGV规划出最短可行路径;最后,在已知AGV可行路径基础上,通过对可行路径各路段的时间窗进行初始化、实时更新以及实时排布处理,实现多AGV的无冲突路径规划。为验证所提方法的可行性和有效性,以4台AGV同时工作的智能立体停车库为实例进行仿真测试。结果显示:所提出的路径规划方法不仅有效解决了目前多AGV路径规划柔性差、易出现死锁、碰撞冲突等问题,而且可在有效解决路径冲突的前提下,为接受任务的AGV规划出一条时间最短的优化路径。所提方法具有较好的鲁棒性和柔性,有效提高了智能立体停车系统整体运行效率,降低了存取车等待时间。
[Abstract]:In order to solve the problem of automatic guided guided vehicle (AGV) access vehicle path planning in intelligent stereoscopic parking garage, a path planning method for parking system based on dynamic time window is proposed by using time-sharing strategy and combining Dijkstra algorithm with time window method.First, the priority strategy is introduced to set the priority for the AGV of the receiving task. Secondly, the Dijkstra algorithm is used to plan the shortest feasible path for the AGV receiving the task according to the order of the priority of the task.On the basis of the known AGV feasible path, the collision free path planning of multiple AGV is realized by initializing, updating and arranging the time window of each section of the feasible path in real time.In order to verify the feasibility and effectiveness of the proposed method, the simulation tests are carried out with four intelligent three-dimensional parking garages which work simultaneously with AGV.The results show that the proposed path planning method not only effectively solves the problems of poor flexibility, deadlock and collision conflict in multi-#en0# path planning, but also can solve the path conflict effectively.An optimal path with the shortest time is proposed for the AGV to accept the task.The proposed method has good robustness and flexibility, effectively improves the overall operating efficiency of the intelligent three-dimensional parking system, and reduces the waiting time of the access vehicle.
【作者单位】：南通大学机械工程学院;江苏海事职业技术学院;江苏金冠立体停车股份有限公司;
【基金】：国家自然科学基金资助项目(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】：TP23;TP301.6

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