A Path-Planning Algorithm for AGV Based on the Combination between Ant Colony Algorithm and Immune Regulation

Huang, Jian Zhong; Cen, Yu Wan

doi:10.4028/www.scientific.net/amr.422.3

Cited by 9 publications

(3 citation statements)

References 3 publications

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“…In [5], the problem of determining fleet size in tactical planning was solved, and the fleet size for automatic straddle carrier horizontal container transportation was determined. In the research and development of the ASCs, it is important to ensure the smooth running of the cargo to the destination [6][7][8][9][10]. At the same time, the interference caused by external noise is an inevitable problem for the ASC.…”

Section: Introductionmentioning

confidence: 99%

Improved Kalman-Filter-Based Model-Predictive Control Method for Trajectory Tracking of Automatic Straddle Carriers

Ding

Lin

et al. 2023

WEVJ

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This paper considers the trajectory tracking problem for a class of automatic straddle carriers (ASCs) with external interferences and the overturning constraints. First, the steering and the dynamics of the ASC are analyzed and the mathematical model of the ASC is established. Then, considering the impact of external interferences on the trajectory tracking accuracy, an improved dynamic Kalman filter is designed in order to obtain the state estimation of the ASC. Based on the obtained state estimation, a model-predictive control method is proposed which takes the anti-overturning constraints into account. In addition, the improved Kalman-filter-based model-predictive control (iKFMPC) algorithm is summarized for the considered ASC to travel smoothly along the given trajectory while meeting the overturning resistance. Finally, simulation analyses demonstrate the effectiveness and superiority of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Improved Kalman-Filter-Based Model-Predictive Control Method for Trajectory Tracking of Automatic Straddle Carriers

Ding

Lin

et al. 2023

WEVJ

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“…Furthermore, the Automatic Guided Vehicle (AGV) is a type of robotic vehicle that is utilized to transport objects and materials in industrial settings. AGVs are programmed to follow a predetermined path and can be utilized to move materials from one certain location to another without the requirement for human intervention [2] . AGVs are widely utilized in warehouses, factories and other industrial settings where they can be utilized to automate the movement of goods and materials.…”

Section: Introductionmentioning

confidence: 99%

Research on automatic guided vehicle scheduling strategies based on artificial intelligent

wang

2023

Third International Conference on Control and Intelligent Robotics (ICCIR 2023)

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“…Some techniques are used to improve the time complexity such as reducing the amount of visibility edges, simplifying obstacles to rectangles, and combining the tiny obstacles [14,15]. Some intelligence algorithms such as quantized algorithm [16] and ant colony [17] are used in path planning based on visibility graph to improve the computational efficiency.…”

Section: Introductionmentioning

confidence: 99%

A Global Path Planning Algorithm Based on Bidirectional SVGA

Lv¹,

Zhao²,

Bao³

2017

Journal of Robotics

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For path planning algorithms based on visibility graph, constructing a visibility graph is very time-consuming. To reduce the computing time of visibility graph construction, this paper proposes a novel global path planning algorithm, bidirectional SVGA (simultaneous visibility graph construction and path optimization by A⁎). This algorithm does not construct a visibility graph before the path optimization. However it constructs a visibility graph and searches for an optimal path at the same time. At each step, a node with the lowest estimation cost is selected to be expanded. According to the status of this node, different through lines are drawn. If this line is free-collision, it is added to the visibility graph. If not, some vertices of obstacles which are passed through by this line are added to the OPEN list for expansion. In the SVGA process, only a few visible edges which are in relation to the optimal path are drawn and the most visible edges are ignored. For taking advantage of multicore processors, this algorithm performs SVGA in parallel from both directions. By SVGA and parallel performance, this algorithm reduces the computing time and space. Simulation experiment results in different environments show that the proposed algorithm improves the time and space efficiency of path planning.

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A Path-Planning Algorithm for AGV Based on the Combination between Ant Colony Algorithm and Immune Regulation

Cited by 9 publications

References 3 publications

Improved Kalman-Filter-Based Model-Predictive Control Method for Trajectory Tracking of Automatic Straddle Carriers

Improved Kalman-Filter-Based Model-Predictive Control Method for Trajectory Tracking of Automatic Straddle Carriers

Research on automatic guided vehicle scheduling strategies based on artificial intelligent

A Global Path Planning Algorithm Based on Bidirectional SVGA

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