Incorporating Steering Constraints in AGV Path Planning Through Graph Augmentation

Liming Zhang1,2; Zhimin Han1; Bo Wang1; Zhiyun Lin3,4; Xiangdong Xu5

10.1109/FASTA61401.2024.10595295

2024-05-12

979-8-3503-7370-7

2024 3rd Conference on Fully Actuated System Theory and Applications (FASTA)

10-12 May 2024

Shenzhen, China

In this paper, we introduce an innovative method for the orientation-specific path planning of an Automated Guided Vehicle (AGV) with steering constraints, such as unmanned forklifts. Traditional shortest-path algorithms, which solely consider distance or travel time, are unsuitable for tasks where the AGV’s orientation is crucial. To address this, we have created an augmented graph that inherently incorporates the AGV’s steering constraints and orientation. By utilizing this enhanced graph structure, conventional shortest-path algorithms can be employed to ascertain a path that takes the AGV’s orientation into account. This novel method facilitates more adaptable and secure path planning, while preserving the immediacy required for real-time path planning execution.

其他

EI

1.School of Automation, Hangzhou Dianzi University, Hangzhou, P. R. China
2.Zhejiang CoTEK Robotics Co. Ltd, Hangzhou, P. R. China
3.Shenzhen Key Laboratory of Control Theory and Intelligent Systems, School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, P. R. China
4.Peng Cheng Laboratory, Shenzhen, P. R. China
5.Wenzhou Institute of Industry & Science, Wenzhou, P. R. China

Liming Zhang,Zhimin Han,Bo Wang,et al. Incorporating Steering Constraints in AGV Path Planning Through Graph Augmentation[C],2024.