Dynamic Weighted and Heat-map Integrated Scalable Information Path-planning Algorithm

IF 1.1 Q4 COMPUTER SCIENCE, INFORMATION SYSTEMS
Shuhui Bi, Zhihao Li, Mackenzie Brown, Lei Wang, Yuan Xu
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引用次数: 1

Abstract

Smart storage is widely used for its efficient storage and applications. For making dynamic decisions when robots conflict and eliminating robot conflicts and improving efficiency from a global perspective, path-planning Algorithm will be analyzed and improved by integrating dynamic weighted and heat-map algorithm based on the scalable information of multi-robot in this paper. Firstly, a small storage grid model applicable to a variety of storage modes is established. Second, in order to solve the frontal collision problem of robots, an improved reservation table is established, which greatly reduces the storage space occupied by the reservation table while improving the operation efficiency; the A* algorithm is improved to achieve the purpose of avoiding vertex conflict and edge conflict at the same time; dynamic weighting table is added to solve the multi-robot driving strategy of intersection conflict and ensure that the most urgent goods are out of the warehouse firstly; the heat map algorithm is appended to reasonably allocate tasks, avoiding congested areas and realizing the dynamic assignment of tasks. Finally, the simulation was done by the proposed path planning method, the average transportation time was reduced by 14.97% comparing with the traditional path algorithm.
动态加权热图集成可扩展信息路径规划算法
智能存储以其高效的存储和应用得到了广泛的应用。为了在机器人发生冲突时做出动态决策,从全局角度消除机器人冲突,提高效率,本文将基于多机器人的可扩展信息,结合动态加权算法和热图算法,对路径规划算法进行分析和改进。首先,建立了适用于多种存储方式的小型存储网格模型。其次,为了解决机器人的正面碰撞问题,建立了改进的预约表,在提高操作效率的同时,大大减少了预约表占用的存储空间;对A*算法进行改进,达到同时避免顶点冲突和边冲突的目的;增加动态加权表,解决了交叉口冲突的多机器人驾驶策略,保证最紧急的货物先出库;加入热图算法,合理分配任务,避免拥挤区域,实现任务的动态分配。最后,采用本文提出的路径规划方法进行仿真,与传统路径算法相比,平均运输时间缩短了14.97%。
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来源期刊
EAI Endorsed Transactions on Scalable Information Systems
EAI Endorsed Transactions on Scalable Information Systems COMPUTER SCIENCE, INFORMATION SYSTEMS-
CiteScore
2.80
自引率
15.40%
发文量
49
审稿时长
10 weeks
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