METHOD FOR PLANNING PATH OF PARKING AGV BASED ON IMPROVED DIJKSTRA ALGORITHM

摘要

#$%^&*AU2020101761A420200917.pdf#####ABSTRACT A method for planning path of a parking AGV based on an improved Dijkstra algorithm, includes the following steps: creating a running scene model of the parking AGV; initializing each parameter of the algorithm; introducing a priority strategy to distribute a task to the parking AGV; selecting different weights for different task attributes (parking and retrieving) according to requirements of a practical application, and improving a traditional Dijkstra algorithm based on the different weights; and planning the path of the parking AGV using the improved Dijkstra algorithm. With the method, an optimal path from a starting node to a target node is found for the parking AGV to ensure that the AGV may rapidly and smoothly complete tasks of parking and retrieving a vehicle without collisions according to different task requirements in a short time. The method may be applied to planning the parking-retrieving path of the parking AGV in a parking lot, ensures that the AGV may safely park and retrieve the vehicle rapidly, improves an operational efficiency of the parking lot and saves a waiting time of a social person for parking or retrieving the vehicle.2/2 Start Creating an environment model Initializing each parameter introducing a priority strategy to distribute a task judging a task attribute parking retrieving Setting a distance as a weight Setting time as a weight Introducing a time window principle for calculation +An improved Dijkstra algorithm An optimal path CEndD FIG. 3 2