Research On Path Planning And Vehicle Access Strategy Of Plane Mobile Stereo Garage

With the continuous development and expansion of the city scale,the total amount and density of cars in the city are growing rapidly,stereo garage has gradually become an important way to save parking costs and reduce the static traffic pressure of the city.In this paper,the plane mobile stereo garage with high space utilization and high degree of automation will be studied.With the increasing number of parking spaces in the stereo garage,it takes a long time to access the car,which becomes the key factor limiting the working efficiency of the stereo garage.In order to improve the speed of the storage and retrieval of the stereo garage and ensure the stable and efficient operation of the system,we can start from the following two aspects:(1)Based on the improved algorithm,the simulation is carried out to avoid the path conflict,long-time waiting,the "detour" of the path,and the "empty run" of the handling equipment.(2)This paper analyzes and compares the common strategies of vehicle storage priority,vehicle collection priority,on-site standby,cross access and so on,and designs a comprehensive and efficient self adjustment strategy,so as to optimize the strategy of vehicle storage and improve the efficiency of vehicle storage and utilization of the garage.In this paper,the plane mobile stereo garage is chosen as the research object.Through AGV comb robot,four-point lifting mechanism and the coordination of carrying trolley,the stereo garage can realize the car access and the access process is fully automatic.It can be realized underground and on the ground.The parking scale is large and the parking density can be increased.The paper mainly includes:First of all,compare and analyze the common two-dimensional modeling methods,select the grid map method for modeling,compare and analyze the common path optimization algorithm,through the path planning simulation comparison,finally select the heuristic A * algorithm for global optimization.On this basis,the A * algorithm is improved.Secondly,the dynamic window method is proposed to analyze the dynamic window method.Based on the dynamic window method,the motion model of AGV comb robot is established.In the static obstacle environment,the path simulation is carried out.The problems of dynamic window method in path obstacle avoidance are analyzed.If an obstacle near the initial point is changed,the target point may not be reached,The ability of global optimization is poor.Then,the evaluation function of dynamic window method is optimized based on A * algorithm.On this basis,the path planning simulation experiment of AGV comb robot under dynamic obstacle condition is carried out based on MATLAB simulation platform to simulate the situation of multiple comb robots working at the same time in stereo garage.Finally,this paper analyzes the common access strategies,establishes the mathematical model,and proposes a high efficiency self-adjusting access strategy based on parking space partition and cross access.