TY - JOUR
T1 - 面向实际工况的 AGV 局部路径规划及跟踪研究
AU - Wu, Bin
AU - Zhang, Xin
AU - Vialova, Varvara
N1 - Publisher Copyright:
© 2023 Journal of Computer Engineering and Applications Beijing Co., Ltd. All rights reserved.
PY - 2023/10/15
Y1 - 2023/10/15
N2 - The local path planning and tracking control of forklift AGV is the key link affecting the operation efficiency and accuracy of AGV. In view of the constraints of real working conditions not fully considered in the existing research, integrating the AGV motion performance constraints and environmental constraints, a multi-objective optimization function including path length, maximum curvature and path smoothness near the starting and ending points is established, cubic uniform B-spline curve is used to plan the local path, and particle swarm optimization algorithm is proposed to optimize path parameters. Moreover, the path tracking algorithm is improved based on the pure pursuit method, and the simulation examples of various scenarios facing the real working conditions are established. The results show the effectiveness of the local path planning algorithm and tracking algorithm.
AB - The local path planning and tracking control of forklift AGV is the key link affecting the operation efficiency and accuracy of AGV. In view of the constraints of real working conditions not fully considered in the existing research, integrating the AGV motion performance constraints and environmental constraints, a multi-objective optimization function including path length, maximum curvature and path smoothness near the starting and ending points is established, cubic uniform B-spline curve is used to plan the local path, and particle swarm optimization algorithm is proposed to optimize path parameters. Moreover, the path tracking algorithm is improved based on the pure pursuit method, and the simulation examples of various scenarios facing the real working conditions are established. The results show the effectiveness of the local path planning algorithm and tracking algorithm.
KW - forklift automated guided vehicle
KW - local path planning
KW - path tracking
KW - real working conditions
UR - http://www.scopus.com/inward/record.url?scp=105007335923&partnerID=8YFLogxK
U2 - 10.3778/j.issn.1002-8331.2205-0589
DO - 10.3778/j.issn.1002-8331.2205-0589
M3 - 文章
AN - SCOPUS:105007335923
SN - 1002-8331
VL - 59
SP - 295
EP - 305
JO - Computer Engineering and Applications
JF - Computer Engineering and Applications
IS - 20
ER -