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The Dynamic Scheduling Model And Algorithm Of AGV In Flexible Manufacturing System

Posted on:2015-05-24Degree:MasterType:Thesis
Country:ChinaCandidate:K WeiFull Text:PDF
GTID:2272330467476426Subject:Management Science and Engineering
Abstract/Summary:PDF Full Text Request
With the rapid development of computer technology and automation technology,Flexible Manufacturing System(FMS) as a modern advanced manufacturing mode isgetting more and more attention by enterprises.Material storage and transportation system is an important component of FMS,Automated Guided Vehicle(AGV) is the main loading and unloading, and transportationinstrument with its advantages of intelligent and flexible in the system. Currently, AGVhas been widely used in industrial, military, transportation, electronics and other fields,it has a good environmental adaptability.AGV has played an important role in the realization of logistics informationization,reduce logistics cost, improve the efficiency of the enterprise. Based on the reference ofrelated literature on AGV path planning and dynamic scheduling, the following studieswere launched:(1) The correlation matrix was used to present the relationship between vertexesand edges in the empowerment directed acyclic graph. Then the path planning problemis converted into a0-1programming problem. And establish the path planning modelbased on the presented structure feature vector、vertex vector and edge vector. Then wecan got the optimal path by genetic algorithm, it has general applicability for pathplanning problem which is based on graph.(2) This paper presents the minimal algebraic path planning algorithm based onadjacency matrix for Simple weighted digraph. It was suitable for Simple weighteddigraph directly.(3) Scheduling and route planning of these tasks from the system were made basedon the proposed path planning methods in the empowerment directed acyclic graph. Forthe single AGV system, we reordered the assigned tasks by the genetic algorithms andthen designed the path to make the path coherent and the objective function optimal. Forthe multi-AGV system, we divided the assigned tasks into groups in accordance with the principle of minimize the maximal travel time of the AGV, then reordered theassigned tasks and designedthe path to make the objective function optimal. Finally, thetime windows method was used to solve the collision avoidance between AGVs to plana conflict-free path for each AGV.(4) AGV automatic control system is developed with the support of related theoriesin C#programming language. Afterwards, System reliability is verified.
Keywords/Search Tags:Automatic Guided Vehicle, Dynamic Scheduling, Path Planning, Weighted Directed Graph, Incidence Matrix
PDF Full Text Request
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