Path Planning for Platform AMR Loading Based on Particle Swarm Optimization

In modern warehouse automation, the platform environment to the automatic loading of goods in the container is basically through manual or large conveyor belt machinery to complete, the container is dark and narrow, easy to due to the goods scuffing or the target point is not clear resulting in reduced efficiency. The automatic loading of mobile robots can solve these problems, but at present there are fewer autonomous mobile robot solutions applied to the platform container environment. In this paper, A path planning algorithm is proposed for platform loading tasks, in which LiDAR scans the container to calculate the coordinates of the loading positions and obtains the best third-order Bezier curve based on particle swarm optimization. The experiment proves that the algorithm can effectively get the loading points in the container and fit an excellent smooth route to improve the efficiency of navigation.