Method of path planning in roller conveying line
                                                                    XUE Zhi qiang, YOU You peng
(College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)

Abstract: Aiming at the problem of path planning in roller conveying line system, the environment model of conveyor line, path planning algorithm and optimization were researched. By extracting the entrance, exit, and transfer of the three modules as the node and taking the delivery routes between the nodes as the weighted routes, a method of calculating the length of the links between the nodes by the conveyors equivalent was proposed, then a streamlined graph structure model was built. By using Dijkstra algorithm and improved ant colony algorithm to solve the small scale and large scale path planning problems respectively, and according to the two constraint cases about the necessary passing nodes and the congestion road sections in the applied transmission line, the path planning algorithm of transmission line which combines Dijkstra algorithm and improved ant colony algorithm was proposed, which two methods were blent with segmented splicing and path length weighting. The results indicate that the method provides an effective solution to the path planning of roller conveying line with different scales under two kinds of constraints.

Key words: roller conveying line; path planning; graph; ant colony algorithm