✅作者简介：热爱科研的Matlab仿真开发者，修心和技术同步精进，matlab项目合作可私信。
🍎个人主页：Matlab科研工作室
🍊个人信条：格物致知。
⛄ 内容介绍
路径规划是研究自动导引车( automated guided vehicle， AGV) 运行最根本、最关键的内容之一，目的在于按照确定 的评价标准( 最短路径、最短时间或能量消耗最少等) 在起 始点和目标点之间寻找一条路径，使 AGV 可以安全到达目的点［1］。
⛄ 部分代码
clc;
clear;
close all;
%% 载入数据
data.map=xlsread('data.xlsx',1);
data.power=xlsread('data.xlsx',2);
%% 地图重构
[data.m,data.n]=size(data.map);
data.numNode=data.m*data.n;
data.numV=length(find(data.map==1));
data.numB=length(find(data.map==2));
data.node=zeros(data.m*data.n,5);
conection=[];
for i=0:2
position3=find(data.map==i);
[position1,position2]=find(data.map==i);
data.node(position3,1)=position3;
data.node(position3,2)=position1;
data.node(position3,3)=position2;
data.node(position3,4)=i;
for j=1:length(position3)
position=position3(j);
try
if position1(j)~=1
conection=[conection;[position,position-1,data.node(position,2:3),data.node(position-1,2:3)]];
end
if position1(j)~=data.m
conection=[conection;[position,position+1,data.node(position,2:3),data.node(position+1,2:3)]];
end
if position2(j)~=1
conection=[conection;[position,position-data.m,data.node(position,2:3),data.node(position-data.m,2:3)]];
end
if position2(j)~=data.n
conection=[conection;[position,position+data.m,data.node(position,2:3),data.node(position+data.m,2:3)]];
end
catch
a=1;
end
end
end
%%
figure
hold on
for i=1:length(conection(:,1))
plot(data.node(conection(i,1:2),2),data.node(conection(i,1:2),3),'b-','LineWidth',2)
end
position=find(data.node(:,4)~=-1);
plot(data.node(position,2),data.node(position,3),'ko','MarkerEdgeColor','k',...
'MarkerFaceColor','g','MarkerSize',10)
position=find(data.node(:,4)==1);
plot(data.node(position,2),data.node(position,3),'rd','MarkerEdgeColor','k',...
'MarkerFaceColor','r','MarkerSize',10)
position=find(data.node(:,4)==2);
plot(data.node(position,2),data.node(position,3),'mh','MarkerEdgeColor','k',...
'MarkerFaceColor','m','MarkerSize',10)
% for i=1:length(data.node(:,2))
% text(data.node(i,2),data.node(i,3),num2str(i));
% end
% for i=1:length(data.node(:,2))
% text(data.node(i,2),data.node(i,3),num2str(i));
% end
⛄ 运行结果
⛄ 参考文献
[1]丁承君, 王鑫, 冯玉伯,等. 基于粒子群优化算法的AGV路径规划[J]. 传感器与微系统, 2020, 39(8):4.
[2]徐怡, 刘则治, 吴招富. 一种基于粒子群算法的AGV调度路径规划方法及系统:.
[3]王富立. 智能制造车间的多AGV路径规划和调度[D]. 重庆邮电大学, 2020.
