Environment Modeling in Global Path Planning Based on Modified Visibility Graph
QI Dong-liu · Journal of East China Jiaotong University · 2008
Basedon tangential graph and Voronoi graph,a method for global path planning is analyzed for static and known environment.Considering security and path optimization,a modified visibility graph method is used to establish environment model and determine valid path to destination for AGV(Automated Guided Vehicles).By contrast with traditional visibility graph in which obstacle peak is regarded as graph node and obstacle border serves as arc,this modified method regards the connection midpoint between obstacle peaks as node and regards some sidelines between these nodes as arc.Finally,genetic algorithm is used for global path planning,random decimal numbering is adopted for these planning nodes,and path is coded fixed length decimal chromosome string.AGV global path planning simulation is carried out in the environment with static known obstacle by MATLAB,and the simulation result indicates that the method is feasible.