Research on AGV Route Planning Based on Improved Artificial Potential Field Algorithm
Chenxu Duan, Shuangcen Li · 2022 3rd Asia-Pacific Conference on Image Processing, Electronics and Computers · 2022
For solving the problem that the traditional artificial potential field Algorithm is easy to fall into local minimum and the objective cannot reach when solving AGV route planning, an improved artificial potential field algorithm is proposed based on the traditional artificial potential field algorithm. Focusing on the local minimum problem, a right-turn potential energy method is proposed to make the AGV escape from the local minimum point by deflecting the direction of the repulsion component to the right. Focusing on the problem of unreachable objective, a virtual objective point method is proposed. By temporarily shielding the repulsion and gravity of obstacles and objective points to the vehicle, the vehicle moves towards the gravity of the virtual objective point, so that the AGV can continue to move towards the objective point. Finally, the simulation experiment is carried out on MATLAB software. The experimental results show that under the experimental conditions of different obstacles, the improved algorithm successfully makes the vehicle bypass the local minimum point and reach the objective point successfully. At the same time, the route smoothness is good, and the expected route planning effect is achieved.