A Method of Dual-AGV-Ganged Path Planning Based on the Genetic Algorithm
Abstract
:1. Introduction
2. Establishment of Environmental Model
3. Proposed Dual-AGV-Ganged Path-Planning Method
3.1. Introducing the Starting-Point and Goal-Point Pose for Path Initialization
3.2. Dual-AGV-Ganged Fitness Function
3.3. Genetic Operator
3.4. Algorithm Termination Conditions
3.5. Algorithm Process
Algorithm 1: Genetic Algorithm |
4. Experimental Results and Discussion
4.1. Simulation Experiment of the Introduced Starting-Point and Goal-Point Poses
4.2. Path-Length Comparison Simulation Experiment
4.3. Real Experiment Introducing Starting-Point and Goal-Point Poses
4.4. Comparison of Real-World Experiments in Narrow Environments
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Cai, Y.; Liu, H.; Li, M.; Ren, F. A Method of Dual-AGV-Ganged Path Planning Based on the Genetic Algorithm. Appl. Sci. 2024, 14, 7482. https://doi.org/10.3390/app14177482
Cai Y, Liu H, Li M, Ren F. A Method of Dual-AGV-Ganged Path Planning Based on the Genetic Algorithm. Applied Sciences. 2024; 14(17):7482. https://doi.org/10.3390/app14177482
Chicago/Turabian StyleCai, Yongrong, Haibin Liu, Mingfei Li, and Fujie Ren. 2024. "A Method of Dual-AGV-Ganged Path Planning Based on the Genetic Algorithm" Applied Sciences 14, no. 17: 7482. https://doi.org/10.3390/app14177482
APA StyleCai, Y., Liu, H., Li, M., & Ren, F. (2024). A Method of Dual-AGV-Ganged Path Planning Based on the Genetic Algorithm. Applied Sciences, 14(17), 7482. https://doi.org/10.3390/app14177482