文档介绍：Internationai Journai of Piant Engineering and Management Voi. ll No. l March 2006
A New Method of Global Path Planning for AGV
SHI En-xiu,HUANG Yu-mei
Institute of Machine and Automation,Xi'an University of Technoiogy,
Xi'an 7l0048,P. R. China
Abstract:Path planning is important in the research of a mobile robot( MR). Methods for it haue
been used in different applications. An automated guided uehicl(e AGV),which is a kind of MR,is
used in a flexible manufacturing system(FMS). Path planning for it is essential to improue the effi-
ciency of FMS. A new method was proposed with known obstacle space FMS in this paper. FMS is de-
scribed by the Augmented Pos Matrix of a Machine( APMM)and Relatiue Pos Matrix of Machines
(RPMM),which is smaller. The optimum path can be obtained according to the probability of the
path and the maximal probability path. The suggested algorithm of path planning was good perform-
ance through simulation result:simplicity,sauing time and reliability.
Ke words: AGV, path pianning, probabiiity seiection, augmented pos matrix of machine
(APMM),reiative pos matrix of machines(RPMM)
l Introduction
In many industries,an automated guided vehicie(AGV)is used for transportation. Modern industriai
manufacture reguires an AGV move not oniy freeiy but fieetiy and safeiy to improve the efficiency of
FMS. But an AGV moves on piex env