Study on Robot Path Collision Avoidance Planning Based on the Improved Ant Colony Algorithm

摘要

A path planning method of collision avoidance among an automated guided vehicle system (AGVs) is proposed in this paper. First the environment of warehousing and storage activities for AGVs is described by using grid method with time windows and the updating rule of pheromone in ant colony algorithm is improved. Then the optimal path of AGVs is planned by using improved ant colony algorithm and furthermore an improved ant colony algorithm combined with grid method with time windows is applied to obstacle avoidance path planning for multiple AGVs. At last simulation results verifies that the algorithm can plan the optima path for multiple AGVs without any collision problems.