多全向轮协同分拣平台的路径规划

doi:10.16182/j.issn1004731x.joss.20-0322

系统仿真学报 ›› 2021, Vol. 33 ›› Issue (3): 698-709.doi: 10.16182/j.issn1004731x.joss.20-0322

• 仿真模型/系统置信度评估技术 • 上一篇下一篇

多全向轮协同分拣平台的路径规划

李颀¹, 汪伟²

1.陕西科技大学电子信息与人工智能学院,陕西西安 710021;
2.陕西科技大学电气与控制工程学院,陕西西安 710021

收稿日期:2020-06-08 修回日期:2020-10-19 出版日期:2021-03-18 发布日期:2021-03-18
作者简介:李颀(1973-),女,博士,教授,研究方向为农业智能化与信息化。E-mail：liqidq@sust.edu.cn
基金资助:
陕西省农业科技创新工程(201806117YF05NC13); 陕西省科技厅农业科技攻关项目(2015NY028)

Path Designing of Multi-omnidirectional Wheel Collaborative Sorting Platform

Li Qi¹, Wang Wei²

1. School of Electronic Information and Artificial Intelligence, Shaanxi University of Science and Technology, Xi'an 710021, China;
2. School of Electrical and Control Engineering, Shaanxi University of Science and Technology, Xi'an 710021, China

Received:2020-06-08 Revised:2020-10-19 Online:2021-03-18 Published:2021-03-18

摘要/Abstract

摘要： 针对传统物流分拣系统分拣效率低、人工成本高、灵活性低的问题,设计出一种自动物流分拣系统。以物品运输路径为研究对象,采用改进的A*算法与人工势场法实现系统的自动路径规划。通过调整实际代价与估计代价的权值对A*算法改进,增设虚拟子目标点与调节自适应参数对人工势场法改进,以完成货品的路径规划功能。仿真与试验结果表明,改进后的算法可使全局路径的角度优化73.33%,长度缩短14.72%,局部路径长度缩短6.17%,物品实际出口与目标出口的坐标相对误差在2.95%以内,证明了该方法的可行性。

关键词: 分拣平台, A*算法, 人工势场法, 路径规划

Abstract: Aiming at the problems of low efficiency, high labor cost and low flexibility of traditional logistics sorting system, an automatic logistics sorting system is designed. The improved A* algorithm and the artificial potential field method are used to realize the automatic path planning of the system by taking the transportation path as the research object. The A* algorithm is improved by adjusting the weights of actual cost and estimated cost, and the artificial potential field method is improved by adding virtual sub-target points and adjusting adaptive parameters, so as to complete the function of path planning of goods. Simulation and test results show that the algorithm can optimize the global path angle by 73.33%, shorten the length by 14.72%, and shorten the local path length by 6.17%. The relative coordinate error between the actual export and the target export is within 2.95%, which proves the feasibility of the method.

Key words: sorting platform, A* algorithm, artificial potential field method, path planning

中图分类号:

TP391

李颀, 汪伟. 多全向轮协同分拣平台的路径规划[J]. 系统仿真学报, 2021, 33(3): 698-709.

Li Qi, Wang Wei. Path Designing of Multi-omnidirectional Wheel Collaborative Sorting Platform[J]. Journal of System Simulation, 2021, 33(3): 698-709.

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多全向轮协同分拣平台的路径规划

Path Designing of Multi-omnidirectional Wheel Collaborative Sorting Platform

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