基于AGV的智能停车库调度系统设计

Analysis of Intelligent Parking Garage Scheduling System Based on AGV

摘要:

利用AGV全方位移动特性,即可在前后、左右和原地零半径旋转三个方向上独立移动,基于智能停车库的应用场景,将AGV作为控制对象,对调度系统核心模块——路径规划算法、电子地图建模、行车避障以及数据库设计等方面进行了详细研究,给出了调度系统各个分系统的设计实现以及整体的软件组织框架图,同时针对单车道和双车道两种不同的道路设计模式进行了比较。基于经典的A_^*算法,引入转弯因子,提出了一种路径规划算法,使得在起始点和目标点确定的情况下,规划的路径转弯次数最少,AGV行走更平滑,系统效率更高。经实际测试,完成了调度系统基本功能验证。

Abstract:

Taking advantage of AGV omni-directional mobile feature, which can move independently in the three directions of front-back, right-left and zero radius rotation, based on the application of intelligent parking garage scene, choosing AGV as controlled object, the core modules of scheduling system--path-planning algorithm, digital map modeling, obstacle avoidance of running and database designing, was studied in detail. The design and implemetation of each module of the scheduling system and the software framework are given in this article. At the same time, one-lane road design pattern and two-lane road design pattern are compared. Based on the classical A_^* algorithm, by adding turning factor, a new path-planning algorithm is proposed, which making the number of turns of the planning route least, the AGV walking smoother and the system more efficient, when the starting point and the target point are determined. Through the actual test, the basic functions of the scheduling system are verified completyly.