Research On Path Planning And Scheduling Algorithm For Multiple AGV System

The Automated Guided Vehicle System is an important branch of the automated warehousing system,and its design and development meet the development requirements of the intelligent logistics system.Through reasonable planning and scheduling,the storage capacity of the storage system,the turnover rate of the goods and the sorting accuracy rate can be improved,and the logistics cost can be reduced.In this paper,AGVS scheduling is the main research content.By optimizing the task assignment strategy,the cargo throughput per unit time is maximized,the cost is further reduced,and the sorting transportation efficiency is improved.The main research contents are as follows:Firstly,the grid map construction method of integrating traffic direction information is proposed,which combining with the characteristics of warehouse environment,also the map information storage structure is designed to complete the construction of electronic map.For the single AGV path planning problem,design simulation experiment is carried out,and finally through analysis,the A*algorithm is chosen as the basic algorithm for path optimization.Secondly,aiming at the problem of resource waste of load and path under the normal task mode,the new operation mode of"cycling multi-task"is designed,and the particle swarm optimization algorithm is improved,and the task group reconstruction under the batch combination strategy is realized.The problem of execution order,a dynamic task sorting algorithm based on group priority and time window is proposed to further optimize the task allocation structure.For the unbalanced problem of random distribution,a distribution model based on the remaining power and AGV loss is established,which solves the fault caused by the energy consumption problem of AGV.Thirdly,aiming at the problem of AGVS resource allocation conflict,an improved A*algorithm based on path steering factor and busy factor correction calculation distance is proposed,which reduces the probability of temporary path conflict in the optimization process.The time window is designed for the operation mode proposed in this paper.The refined calculation strategy of the window is proposed,and the static time window algorithm based on group priority and road condition is proposed to increase the scientificity of path resource allocation.For the sudden problem of the actual operation process,the dynamic path adjustment strategy based on online conflict monitoring is designed.Improve the system's ability to handle unexpected incidents..Finally,a scheduling test platform composed of multiple mobile robots was built,and the AGVS scheduling algorithm software was developed.The experimental research and theoretical analysis results of AGVS path planning and scheduling algorithms were verified and analyzed.The result proves that under the premise of completing the same number of tasks,the strategy and algorithm of this paper are used to complete the unit task with less average path and lower incidence of conflict.