Research On Multi-AGVs Scheduling Problem For Intelligent Warehouse System

With the limitations of the short land source and the sharply increasing staffing costs,the development of warehousing and logistics industry are constrained seriously.As a result,it has become a hot topic on how to design a multi-robots intelligent warehouse system in order to transform enterprises from automatic mode to intelligent mode.First our research analyzes some causes of AGV collision,deadlock and low efficiency of system operation in the practical application scenario to propose a scheduling system.The first step is to choose an AGV mode and make an operational regulation and technical solution.It is used to achieve the functions of QR code localization and real-time state tracking which ensure AGV moving to the target point along the pre-setting route.Then modeling a continuous multi-objective warehouse and rationally disposing the resources of warehouse model considerably reduce the scale of system state space and the quantity of data transmission.In addition,it is benefit to subsequent scheduling of control center by setting monitoring for the complex conflict road section based on bundle.Then a final resolution is proposed for multi-AGV warehouse management system.During system initialization,the control center invokes the path algorithm to get a hash table of area path and separate the storage.It can accomplish the cross-regional and cross-flour path programming so that the space of multi-flour warehouse reduces from 3-dimension to 2-dimension.When it comes to a mission,the mission will be separated and be allocated to target cars by the algorithm of advanced market and competitive mechanisms.By monitoring the bundle,AGV can achieve collision-free navigation.Our system can transmit large amount data between the control center and AGVs by the wireless local area network and complete the format storage of data of both mission and map modeling and data transmission by XML.Finally,on the platform of openTCS,the functions,like modeling,car configuration and dynamic addition of orders,are implemented.During our experiments,there are no phenomenon of collision,deadlock and long-time retention.The results verify the feasibility,effectiveness and robustness.Additionally,our thesis introduces the software framework of AGV management system based on B/S framework and some relative technologies of software framework.