Research on Local Path Planning and Path Tracking of AGV for Real Working Conditions

doi:10.3778/j.issn.1002-8331.2205-0589

Abstract

Abstract: The local path planning and tracking control of forklift AGV is the key link affecting the operation efficiency and accuracy of AGV. In view of the constraints of real working conditions not fully considered in the existing research, integrating the AGV motion performance constraints and environmental constraints, a multi-objective optimization function including path length, maximum curvature and path smoothness near the starting and ending points is established, cubic uniform B-spline curve is used to plan the local path, and particle swarm optimization algorithm is proposed to optimize path parameters. Moreover, the path tracking algorithm is improved based on the pure pursuit method, and the simulation examples of various scenarios facing the real working conditions are established. The results show the effectiveness of the local path planning algorithm and tracking algorithm.

Key words: forklift automated guided vehicle, real working conditions, local path planning, path tracking

摘要： 叉车型AGV的局部路径规划与跟踪控制是影响AGV运行效率与精度的关键环节。针对现有研究中未充分考虑实际工况约束条件，综合AGV运动性能约束、环境约束，建立了包含路径长度、最大曲率及起止点附近路径平滑度的多目标优化函数，采用三次均匀B样条曲线对AGV的局部路径进行规划，提出粒子群算法优化路径参数。在此基础上，基于纯跟踪法改进跟踪控制算法，并建立了面向实际工况的多种场景仿真实例。结果证明了局部路径规划算法和跟踪算法的有效性。

关键词: 叉车型自动导向车, 实际工况, 局部路径规划, 路径跟踪

WU Bin, ZHANG Xin, VIALOVA Varvara. Research on Local Path Planning and Path Tracking of AGV for Real Working Conditions[J]. Computer Engineering and Applications, 2023, 59(20): 295-305.

吴斌, 张新, VIALOVA Varvara. 面向实际工况的AGV局部路径规划及跟踪研究[J]. 计算机工程与应用, 2023, 59(20): 295-305.

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