基于改进HLO和动态窗口的AGV动态避障路径规划算法.docx
基于改进HLO和动态窗口的AGV动态避障路径规划算法
目录
内容简述................................................2
1.1研究背景...............................................2
1.2研究目的和意义.........................................3
1.3国内外研究现状.........................................4
1.4文章结构安排...........................................5
基本理论................................................6
2.1AGV动态避障路径规划概述................................7
2.2HLO算法原理............................................8
2.3动态窗口方法原理.......................................8
改进HLO算法............................................10
3.1HLO算法的改进思路.....................................11
3.2改进HLO算法的具体实现.................................12
3.2.1改进策略一..........................................13
3.2.2改进策略二..........................................13
3.2.3改进策略三..........................................14
动态窗口方法...........................................15
4.1动态窗口的概念........................................16
4.2动态窗口在路径规划中的应用............................17
4.3动态窗口的调整策略....................................18
基于改进HLO和动态窗口的AGV动态避障路径规划算法.........19
5.1算法整体框架..........................................20
5.2算法步骤..............................................20
5.2.1初始化阶段..........................................21
5.2.2路径规划阶段........................................21
5.2.3动态调整阶段........................................22
5.2.4路径优化阶段........................................23
实验与分析.............................................24
6.1实验环境与数据集......................................25
6.2实验结果分析..........................................25
案例分析...............................................26
7.1案例背景介绍..........................................28
7.2案例应用效果分析......................................28
7.2.1避障效果............................................29
7.2.2路径规划效率........................................30
7.2.3资源消耗分析........................................31
1.内容简述
本文主要探讨了融合了改进型HierarchicalLocalizationandObstacleAvoidance(HLO)策略与动态窗口技术的自动