Article Details

Abstract

In order to solve the problem of insufficient computing power of Autonomous Mobile Robot (AMR) on-board microcomputer in the intelligent storage environment, a method based on map segmentation is proposed. This method draws on the tile pyramid model to build a multi-resolution hierarchical model of the storage environment, and selects one of the levels as a map for fuzzy path search through a multi-objective optimization algorithm. The hierarchical map and the underlying map are used as a fuzzy path search map and a global path search map, respectively. The path search process with a huge amount of information is simplified into two search steps with less computation fuzzy path search and global path planning. By using the computing power of the AMR on-board microcomputer, the Dijkstra algorithm is used in the fuzzy path search stage, and the A* algorithm is used in the global path planning stage to find the optimal path. The simulation results show that this method improves the efficiency of the algorithm and solves the problem of independent path planning of AMR on-board computer in large-scale map environment.

Keywords

intelligent logistic; tile pyramid model; path planning

References

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Funding

2024 Guangdong Province College Students Innovation and Entrepreneurship Training Program Project

About the authors

Sun Ming (February 1985-), male, Han ethnicity, from Xuchang, Henan Province, associate professor, PhD, research direction: optimization theory and practice; Lai Dongchen (November 2004-), male, Han ethnicity, from Huizhou, Guangdong, is currently pursuing a bachelor's degree with a research focus on robotics technology; Lu Lixing (October 2005-), male, Han ethnicity, from Zhumadian, Henan Province, is currently pursuing a bachelor's degree with a research focus on robotics technology.