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Dynamic Path Planning of AGV Based on Kinematical Constraint A* Algorithm and Following DWA Fusion Algorithms

In the field of AGV, a path planning algorithm is always a heated area. However, traditional path planning algorithms have many disadvantages. To solve these problems, this paper proposes a fusion algorithm that combines the kinematical constraint A* algorithm and the following dynamic window approa...

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Detalles Bibliográficos
Autores principales: Yin, Xiong, Cai, Ping, Zhao, Kangwen, Zhang, Yu, Zhou, Qian, Yao, Daojin
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10145541/
https://www.ncbi.nlm.nih.gov/pubmed/37112443
http://dx.doi.org/10.3390/s23084102
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author Yin, Xiong
Cai, Ping
Zhao, Kangwen
Zhang, Yu
Zhou, Qian
Yao, Daojin
author_facet Yin, Xiong
Cai, Ping
Zhao, Kangwen
Zhang, Yu
Zhou, Qian
Yao, Daojin
author_sort Yin, Xiong
collection PubMed
description In the field of AGV, a path planning algorithm is always a heated area. However, traditional path planning algorithms have many disadvantages. To solve these problems, this paper proposes a fusion algorithm that combines the kinematical constraint A* algorithm and the following dynamic window approach algorithm. The kinematical constraint A* algorithm can plan the global path. Firstly, the node optimization can reduce the number of child nodes. Secondly, improving the heuristic function can increase efficiency of path planning. Thirdly, the secondary redundancy can reduce the number of redundant nodes. Finally, the B spline curve can make the global path conform to the dynamic characteristics of AGV. The following DWA algorithm can be dynamic path planning and allow the AGV to avoidance moving obstacle. The optimization heuristic function of the local path is closer to the global optimal path. The simulation results show that, compared with the fusion algorithm of traditional A* algorithm and traditional DWA algorithm, the fusion algorithm reduces the length of path by 3.6%, time of path by 6.7% and the number of turns of final path by 25%.
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spelling pubmed-101455412023-04-29 Dynamic Path Planning of AGV Based on Kinematical Constraint A* Algorithm and Following DWA Fusion Algorithms Yin, Xiong Cai, Ping Zhao, Kangwen Zhang, Yu Zhou, Qian Yao, Daojin Sensors (Basel) Article In the field of AGV, a path planning algorithm is always a heated area. However, traditional path planning algorithms have many disadvantages. To solve these problems, this paper proposes a fusion algorithm that combines the kinematical constraint A* algorithm and the following dynamic window approach algorithm. The kinematical constraint A* algorithm can plan the global path. Firstly, the node optimization can reduce the number of child nodes. Secondly, improving the heuristic function can increase efficiency of path planning. Thirdly, the secondary redundancy can reduce the number of redundant nodes. Finally, the B spline curve can make the global path conform to the dynamic characteristics of AGV. The following DWA algorithm can be dynamic path planning and allow the AGV to avoidance moving obstacle. The optimization heuristic function of the local path is closer to the global optimal path. The simulation results show that, compared with the fusion algorithm of traditional A* algorithm and traditional DWA algorithm, the fusion algorithm reduces the length of path by 3.6%, time of path by 6.7% and the number of turns of final path by 25%. MDPI 2023-04-19 /pmc/articles/PMC10145541/ /pubmed/37112443 http://dx.doi.org/10.3390/s23084102 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Yin, Xiong
Cai, Ping
Zhao, Kangwen
Zhang, Yu
Zhou, Qian
Yao, Daojin
Dynamic Path Planning of AGV Based on Kinematical Constraint A* Algorithm and Following DWA Fusion Algorithms
title Dynamic Path Planning of AGV Based on Kinematical Constraint A* Algorithm and Following DWA Fusion Algorithms
title_full Dynamic Path Planning of AGV Based on Kinematical Constraint A* Algorithm and Following DWA Fusion Algorithms
title_fullStr Dynamic Path Planning of AGV Based on Kinematical Constraint A* Algorithm and Following DWA Fusion Algorithms
title_full_unstemmed Dynamic Path Planning of AGV Based on Kinematical Constraint A* Algorithm and Following DWA Fusion Algorithms
title_short Dynamic Path Planning of AGV Based on Kinematical Constraint A* Algorithm and Following DWA Fusion Algorithms
title_sort dynamic path planning of agv based on kinematical constraint a* algorithm and following dwa fusion algorithms
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10145541/
https://www.ncbi.nlm.nih.gov/pubmed/37112443
http://dx.doi.org/10.3390/s23084102
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