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11 September 2023 AGV path planning method based on memory precursor point and physical PID model
Cong Zhong, Mingzhen Li, Yulong Jiang
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Proceedings Volume 12779, Seventh International Conference on Mechatronics and Intelligent Robotics (ICMIR 2023); 127792Z (2023) https://doi.org/10.1117/12.2689889
Event: Seventh International Conference on Mechatronics and Intelligent Robotics (ICMIR 2023), 2023, Kunming, China
Abstract
Path planning is a core algorithm component of AGV equipment, and its quality directly affects the operating efficiency and accuracy of the equipment. The current mainstream path planning algorithm A* and the traditional Dijkstra algorithm have the disadvantages of high computational complexity and limited accuracy. Aiming at the limitations of existing algorithms, this paper improves the Dijkstra-like algorithm by using the memorable precursor point list and introduces the kinematics model of the AGV car to optimize the PID control details. The comparison test proves that the improved algorithm can effectively improve the planning efficiency and stability of equipment operation.
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Cong Zhong, Mingzhen Li, and Yulong Jiang "AGV path planning method based on memory precursor point and physical PID model", Proc. SPIE 12779, Seventh International Conference on Mechatronics and Intelligent Robotics (ICMIR 2023), 127792Z (11 September 2023); https://doi.org/10.1117/12.2689889
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KEYWORDS
Kinematics
Motion models
Mathematical optimization
Modeling
Control systems
Instrument modeling
Computer simulations
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