关键词: 多自动引导车辆（AGV）, 路径规划, 最优超平面约束, 多帧时间窗轮换, B样条曲线

Abstract:

Aiming at the path planning problem of multi-AGV cars in storage environment, a multi-frame time window rotation algorithm is proposed. The proposed algorithm uses the A* pathfinding algorithm to perform global path planning, and obtains the set of discrete points of the initial path of the multi-AGV car. By setting the multi-frame time window switching threshold in the warehouse environment intersection, the global path point set of the car is discretized into a multi-frame small form, and the convex target feature optimal target obstacle function is established in each small form.  Introducing and the kinematics of the car and anti-collision optimal hyperplane constraints, the various constraints of the car are parameterized into a polynomial B-spline curve form, and the step size is updated by the Newton iterative fusion retrospective straight line method to solve the polynomial B-spline curve control point of the next frame time window. Finally, experimental tests show that the path planning of the multi-AGV car is realized with all constraints.

Key words: multi-Automated Guided Vehicle（AGV）, path planning, optimal hyperplane constraint, multi-frame time window rotation, B-spline curve