对AGV路径规划A星算法的改进与验证-计算机工程与应用.PDF

Computer Engineering and Applications 计算机工程与应用 2018 ，54（21 ） 217 ⦾工程与应用⦾ 用 对AGV 路径规划A 星算法的改进与验证 应 赵 江，张 岩，马泽文，叶子超 与 ZHAO Jiang, ZHANG Yan, MA Zewen, YE Zichao 程 g 河北科技大学 电气工程学院，石家庄 050018 r 工 o College of Electrical Engineering, Hebei University of Science and Technology, Shijiazhuang 050018, China . 机 j a ZHAO Jiang ，ZHANG Yan ，MA Zewen ，et al. Improvement and verification of A- star algorithm for AGV path e planning. Computer Engineering and Applications, 2018, 54 （21 ）：217-223. 算 c 计 . Abstract ：To reduce the length of the path and the number of turns of the Automate Guide Vehicle （AGV ）, an improved w A-star algorithm is proposed. The path planned by the traditional A-star algorithm is further optimized by geometric w methods. Firstly, based on the initial path planned by A-star algorithm, traversing all the nodes on the initial path, removing w redundant inflection points and redundant nodes and obtainning the path that contains the starting node, the end node, and the key inflection points. Then the rotation direction and rotation angle of AGV at the inflection point are calculated to adjust the posture of the AGV. Comparative experiments on traditional A-star algorithm, ant colony algorithm and improved A-star algorithm are carried out respectively. And the experimental results demonstrate that the method not only has a fast calculation speed but also can provide a short and smooth