Obstacle Avoidance Strategy of AGV Formation based on Time Efficiency First
To overcome the high time consumption,unreasonable rotation and poor environment adaptability in obstacle avoidance of wheeled robots formation,a strategy combining heuristic path planning function and optimal formation transformation is proposed,and it is applied to AGV(Automatic Guided Vehicle).First of all,a base of common robots formation knowledge and the transformation time is built; Secondly,the optimal obstacle avoidance path is found according to the minimum time-consuming assessment value which was calculated by heuristic function and optimal formation transformation; finally,the robots formation can pass through the obstacle areas in the topology of leaderfollower with path smoothing algorithm.Compared with the traditional method,the simulation result shows that the proposed method is more effective and flexible.
AGV obstacle avoidance time efficiency heuristic path planning function formation transformation time-consuming assessment value path smoothing algorithm
Huichao Wu Yuan Luo Qianneng Zhou Junjie Li
College of Optoelectronic Engineering,Chongqing University of Posts and Telecommunications Research Center of Intelligent System and Robot,Chongqing University of Posts and Telecommunications
国际会议
重庆
英文
772-777
2017-03-25（万方平台首次上网日期，不代表论文的发表时间）