To improve the safety and accuracy of path planning of intelligent warehouse robots, this paper establishes a storage shelf model, incorporates Poisson Distribution to simulate the influence of unknown factors, and es...
详细信息
To improve the safety and accuracy of path planning of intelligent warehouse robots, this paper establishes a storage shelf model, incorporates Poisson Distribution to simulate the influence of unknown factors, and establishes a three-color raster map. The pheromone update mechanism is optimized by considering the path safety, path length, and turning elements under the influence of unknown factors. The two models based on the three-dimensional shelves are simulated separately, and the planned paths are de-pointed and smoothed. The simulation results show that the improved algorithm can design the optimal route safely and effectively in the storage environment under the influence of unknown factors. The proposed algorithm not only solves the blind search and deadlock problems, but also has better performances than other algorithms, i.e., 4 iterations compared to 22 and 30 iterations, 3 turns compared to 9 and 7 turns, 8.468s running time compared to 16.974s and 13.754s.
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