Obstacle avoidance strategy of AGV formation based on time efficiency first

To overcome the high time consumption, unreasonable rotation and poor environment adaptability in obstacle avoidance of wheeled robots formation, a strategy combining heuristic path planning function and optimal formation transformation is proposed, and it is applied to AGV (Automatic Guided Vehicle). First of all, a base of common robots formation knowledge and the transformation time is built; Secondly, the optimal obstacle avoidance path is found according to the minimum time-consuming assessment value which was calculated by heuristic function and optimal formation transformation; finally, the robots formation can pass through the obstacle areas in the topology of leader-follower with path smoothing algorithm. Compared with the traditional method, the simulation result shows that the proposed method is more effective and flexible.

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