Research on path planning of automated guided vehicle based on improved RRT* algorithm

Lunhui Xu; Runnan Xu; Xianyan Kuang

doi:10.1117/12.2671839

21 March 2023 Research on path planning of automated guided vehicle based on improved RRT* algorithm

Lunhui Xu, Runnan Xu, Xianyan Kuang

Proceedings Volume 12609, International Conference on Computer Application and Information Security (ICCAIS 2022); 1260904 (2023) https://doi.org/10.1117/12.2671839
Event: International Conference on Computer Application and Information Security (ICCAIS 2022), 2022, ONLINE, ONLINE

Abstract

An improved RRT* algorithm is proposed to solve the problems of poor goal orientation, low space utilization and many inflection points in the path planning of Automated Guided Vehicle (AGV) transportation. The algorithm adopts the approach sampling and restricted sampling strategies. First, the approach sampling method improves the sampling efficiency and reduces the path search time; then, the sampling area is reduced by limiting sampling, so as to improve the probability of sampling points falling in the path neighborhood and shorten the path length. On this basis, the redundant points of the path are trimmed according to the greedy algorithm, and the curvature of the path is optimized using the cubic B-spline smoothing method to obtain the driving track that meets the requirements of AGV running stability. Finally, through MATLAB simulation and comparative analysis, in the same environment, compared with the RRT* algorithm, the improved RRT* algorithm reduces the time of path search by 61.59% and the path length by 8.6%, which verifies the effectiveness of the improved RRT* algorithm.

Citation Download Citation

Lunhui Xu, Runnan Xu, and Xianyan Kuang "Research on path planning of automated guided vehicle based on improved RRT* algorithm", Proc. SPIE 12609, International Conference on Computer Application and Information Security (ICCAIS 2022), 1260904 (21 March 2023); https://doi.org/10.1117/12.2671839

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