Research On The Path Planning Based On Space Restriction And The Scene Simulation

With the impromotion of the economic globalization and information, the modern logistics has combined many other technologies, such as mechanics,computer science,manage engineering,automation technology etc. Automation Guided Vehicle (AGV) is just the representation of modern logistics technology. As one of the most important problems of the logistics process, Vehicle Routing Problem (VRP) is searching an optimal path without touch from the start to the end according to the performance index (such as:distance,time,energy) for AGV. So it includes these problems:how to build a reasonable model using the AGV's working environment information that known, how to search an optimal path without touch from the start to the end if we could find the arithmetic.This thesis first focuses on the study of global path planning for AGV. Under the condition that we have known the AGV's environment information, we can get the electronic map data according to some simplified regulations, and then we can use the data to model the environment. Using the voronoi diagram to divide the environment and the optimal searching arithmetic of dijkstra can be used to find an initial shortest path for AGV, at the same time, the threat weight of this way is the least. Considering the AGV's dynamic constrains, the initial shortest path is smoothed by using B spline, then the latest global optimal path is gained.Using the two-dimensional simulation to verify the path planning arithmetic.On the basis of this, we use the scene simulation technology to simulate the AGV's moving environment and it's moving state according to time. All the methods are designed to illustrate and demonstrate the feasibility of the presented theory and arithmetic.In the 3D scene simulation software of Vega, the points from the global optimal path are fitting into Hermite spline. By Constructed the smooth spline, we can use the points' positions and Ouler angles to control the AGV's continual movement.As the method merges the path planning and the scene simulation, this thesis has a detail study on the next points:defining data interface, building special effects,Audio application, man-machine alternation method. And this thesis expatiate some key technology and development means about integration of OpenGL and Vega. At last, this thesis introduces the system's structure of AGV movement scene simulation. The simulation result shows, in the course of AGV's movement according to the path which calculated by the global path planning arithmetic, there is no collsion accident etc. between AGV and space restriction like obstacles. It proves the correctness of the global path planning arithmetic. With the scene simulation system, it can offers designer visual,intuitionistic and xact information in the visual environment, verifies the path planning theory and arithmetic based on voronoi graph. It advances the theory and arithmetic's usefulness in reality.