基于三次B样条曲线的叉车型AGV路径规划研究

Study on Forklift AGV Path Planning Based on Cubic B-spline Curve

摘要:

针对工厂环境下叉车型AGV在沿给定参考路径运行时，因避障等问题产生的大幅度偏离参考路径的现象，将三次B样条曲线用于路径规划。规划路径在满足AGV运动学约束、最大曲率约束、起点和终点位姿等约束的条件下，使AGV以最短距离回到原参考路径。算法将路径规划问题转化为参数优化问题，将规划路径距离作为目标函数优化求解参数。算法最后使用Matlab针对直线和圆弧参考路径进行了仿真验证，结果表明本文算法能够在大偏差情况下，规划出一条最短路径，使AGV回到参考路径。

Abstract:

In order to solve the problem of the path planning when forklift AGV runs along the given reference path in the factory environment and deviates greatly from the reference path due to obstacle avoidance and so on, cubic B-spline curve is used in path planning. The planned path can make the AGV return to the original reference path with the shortest distance and satisfying the constraints of AGV kinematics, maximum curvature, starting and ending position and orientation. The algorithm transforms the path planning problem into parameter optimization problem and takes the planned path distance as the objective function and gets the optimized parameters. Finally, the algorithm is simulated and verified with Matlab taking the linear and circular reference paths as examples. The results show that the algorithm in this paper can plan a shortest path and make the AGV return to the reference path under the condition of large deviation.