- 學位論文
無人搬運車最佳路徑規劃法則之開發
The development of path planning algorithm for an automatic guided vehicle
摘要
本研究主要針對一無人搬運車系統(Automatic Guided Vehicle System, AGVS)開發行駛路徑之規劃法則。本研究共建立了兩種不同的規劃法則，其一稱為避衝突最短距離路徑規劃法則，主要目標在維持最短路徑行駛之下，能夠於最短時間之內到達目的地而不與正行駛當中的車輛產生衝撞。另外一個法則稱為避衝突最短旅行時間路徑規劃，其主要目標則是在避免與行駛中車輛衝撞的條件下，於最短時間之內抵達目的地，但行駛距離則不一定是最短。此外，本研究亦利用Labview軟體建立AGVS的運作模擬程式以及相關的人機介面，以便能夠實際模擬各種可能的情境，來驗證所建立之法則的可行性。結果顯示，所規畫的法則皆能夠依照設定的目標規畫出事宜的路徑。
並列摘要
The purpose of this research is development path planning algorithms for an automatic guided vehicle system. This research establishes two different path planning algorithms. The first one is called anti-collision shortest distance path planning algorithm which allocate shortest path and then find the shortest traveling time to follow the shortest path. The second one is called anti-collision shortest traveling time path planning algorithm which aims to find a path to reach the destination in shortest time. The traveling path, however, is not necessary the shortest. Besides the development two kind of algorithm, this research also establishes a simulation platform to validate the path planning algorithm. This platform is developed using Labview software. Results show that the developed algorithm can satisfy their mission to find appropriate paths.