2023 Vol.6 Apr.N0.2

• Title: Research on obstacle avoidance path selection of AGV based on improved ant colony algorithm
• Name: Brown Tyler
• Company: Thomas Jefferson University,USA
• Abstract:

   Research the obstacle avoidance path selection method of AGV automatic guidance vehicle based on improved ant colony algorithm, effectively predict the collision risk, select the optimal obstacle avoidance path, and improve the stability of AGV operation. The two-dimensional model of AGV working environment is established by grid method; The local rolling prediction method is used to predict whether the AGV collides with the dynamic obstacle in the two-dimensional model. According to the collision prediction results, the obstacle avoidance strategy is formulated and the optimal sub-path point is selected; The improved ant colony algorithm is obtained by improving the transfer probability and pheromone update strategy, introducing the path smoothing factor and global information factor; An improved ant colony algorithm is used to select an optimal obstacle avoidance path within the line of all sub-path points. The experiment shows that this method can effectively predict whether AGV will collide with dynamic obstacles, select the optimal obstacle avoidance path, and avoid the risk of collision; At different AGV driving speeds, when this method is applied, the lateral acceleration and yaw rate of the AGV are both small, and the AGV has higher driving stability.

  
  

• Keyword: improved ant colony algorithm; AGV automatic guidance vehicle; Obstacle avoidance path selection; Grid method; Rolling prediction; Smoothing factor
• DOI: 10.12250/jpciams2023090401
• Citation form: Brown Tyler .Research on obstacle avoidance path selection of AGV based on improved ant colony algorithm [J]. Computer Informatization and Mechanical System,2023,Vol.6,pp.1-5

[1]YU Henian,BAI Hua,LI Chao.Research and Simulation on Path Planning of Warehouse Multi-AGV System[J].Computer Engineering and Applications,2020,56(02):233-241.

[2]ZHANG Shuo,QIAN Xiaoming,LOU Peihuang,et al.Path planning optimization of large scale AGV system based on improved particle swarm optimization algorithm[J].Computer Integrated Manufacturing Systems,2020,26(09):2484-2496.

[3]CAO Ying,CHEN Yanyi,FENG Rui.Research on Path Planning of Automatic Guided Vehicle in Container Terminal Based on Improved A* Algorithm[J].Journal of Wuhan University of Technology(Transportation Science & Engineering),2020,44(04):738-742.

[4]CHEN Zhan,GONG Jianning,LIU Yuanyuan,et al.Multi-AGV System Path Optimization Algorithm Based on Tabu Search[J].Computer Engineering and Applications,2021,57(10):273-278.

[5]YANG Yang,ZHANG Jian-min,LIU Yi-lin,et al.Multi-AGV Collision Avoidance Path Optimization Strategy for Unmanned Warehouse Based on Improved Ant Colony Algorithm[J].Mathematics in Practice and Theory,2020,50(16):1-9.

[6]SONG Qisong,LI Shaobo,ZHE Longxuan,et al.Path Planning for Automatic Guided Vehicle Based on Improved Genetic Algorithm[J].Modular Machine Tool & Automatic Manufacturing Technique,2020,(07):88-92.

[7]Wang Lei,Shi Xin.Dynamic path planning of mobile robot based on improved ant colony algorithm[J].Journal of Nanjing University of Science and Technology,2019,43(06):700-707.

[8]YU Ying,MAO Rui,PAN Yu-xia,et al.3D Real-time Path Planning of Intelligent AGV Based on TLP Model[J].Packaging Engineering,2019,40(03):218-222.

[9]YANG Yao,FU Kechang,JIANG Tao,et al.AGV Path Planned with Heuristic RRT[J].Computer Engineering and Applications,2020,56(12):125-133.

[10]Zhang Zhongwei,Zhang Bohui,Dai Zhengzheng,et al.Multi-AGV conflict-free path planning based on dynamic priority strategy[J].Application Research of Computers,2021,38(07):2108-2111.

[11]SU Shaochun,GONG Yiyu,FAN Songhai,et al.Path optimization algorithm of Multi-mode Automatic Guided Vehicle Based on MOWCA[J].Control Engineering of China,2019,26(12):2317-2322.

[12]LI Xin,LIAO Kaiwen,CHEN Wei,et al.Space-time conflict constrained A* algorithm for path planning of multiple AGVS[J].Computer Integrated Manufacturing Systems,2021,27(11):3219-3226.

[13]CAO Xiaohua,ZHU Meng.Multi-AGV conflict avoidance decision optimization method based on conflict prediction[J].Computer Integrated Manufacturing Systems,2020,26(08):2092-2098.

[14]DONG Min,CHEN Tie-zhuang,YANG Hao.Research on Ground Laser Point Cloud Separation Method Based on Mesh[J].Computer Simulation,2019,36(11):96-100.

[15]Ren Yongjie,Zhao Xian,Guo Siyang,et al.Path Planning Control of Automated Guided Vehicle Based on Workshop Measurement Positioning System and Fuzzy Control[J].Acta Optica Sinica,2019,39(03):191-198.