Research on path planning of AGV transport robot based on improved A* algorithm
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摘要: 研究基于笔者单位在研的某产品高效装配生产线项目，旨在提出一种改进A*路径规划算法。应用于AGV转运机器人运动控制中，在检测到运动路线上出现障碍物后，能够实时规划运动路径，实现主动避碰，从而在不影响转运效率的前提下，提高AGV机器人应用的安全性。为此，首先分析了AGV机器人工作环境，建立了环境模型；随后对传统A*算法进行了说明与分析，针对其不足提出了改进措施；最后利用仿真对算法有效性进行了验证。Abstract: Based on the project of efficient production line, this paper aims to propose an improving A* path planning algorithm which is applied to the motion control of AGV. After detecting obstacles, it can be used in real-time path planning. So the safety of AGV robots application is improved without affecting the efficiency of transport. In this paper, the working environment of the AGV robot is analyzed, and the environmental model is established. Then the traditional A* algorithm was explained and analyzed, and the improvement measures were put forward for its shortcomings. Finally, the validity of the algorithm is verified by simulation.
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Key words:
- production line /
- AGV robot /
- path planning /
- improved A* algorithm
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表 1 路径规划效率比较
A*算法 改进A*算法 效率提升 无障碍环境 路径搜索结果是否一致 一致 / 用时/s 1.797 1.709 4.90% A障碍环境 路径搜索结果是否一致 一致 / 用时/s 20.591 14.951 27.39% B障碍环境 路径搜索结果是否一致 一致 / 用时/s 22.373 15.569 30.41% 
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