考虑Agent动力学的离线任务分配与运动规划算法

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI:10.1109/ICARA56516.2023.10125759

Tomoaki Shimizu, Kosuke Taneda, Ayumu Goto, Tomoya Hattori, Toyokazu Kobayashi, Ryota Takamido, Jun Ota

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引用次数: 0

摘要

本研究的目的是开发一种考虑自动导引车(agv)加减速模式的任务分配和目标运动规划算法。本文基于Hönig等人的基于冲突的最优任务分配搜索(CBS-TA)算法，提出了一种AGV运动学多搜索树任务分配和运动规划算法。该算法通过设计AGV动作选项和待机动作设置，结合AGV的动态特性，对每个AGV进行最优运动规划。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Offline Task Assignment and Motion Planning Algorithm Considering Agent's Dynamics

The aim of this study is to develop an algorithm for task assignment and movement planning to a destination by considering the acceleration and deceleration patterns of automated guided vehicles (AGVs). In this study, we propose an algorithm for task assignment and motion planning for AGV kinematics with multiple search trees based on the conflict-based search with optimal task assignment (CBS-TA) of Hönig et al. By devising the options for AGV actions and settings for standby actions, the algorithm can perform optimal motion planning for each AGV, considering its dynamic characteristics.

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来源期刊

2023 9th International Conference on Automation, Robotics and Applications (ICARA)

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