105 / 2016-04-24 15:11:28

Obstacle Avoidance Strategy of AGV Formation based on Time Efficiency First

AGV,time efficiency,obstacle,formation

In order to overcome the high time consumption and poor environment adaptability in obstacle avoidance of wheeled robots formation, a strategy which combining heuristic path planning function and optimal formation transformation was proposed, and it was applied to AGV (Automatic Guided Vehicle). First of all, a base of common robots formation knowledge and the transformation time was built; Secondly, the optimal obstacle avoidance path was found according to the minimum time-consuming assessment value which was calculated by heuristic function and optimal formation transformation; finally, the robots formation can pass through the obstacle areas in the topology of leader-follower. Compared with the traditional method, the simulation result shows that the proposed method is more effective and flexible.