Research On The Route Planning Of Cargo Automatic Transportation In Logistics Center Based On AGV

With the rapid development of logistics industry and the rising labor costs,logistics automation technology have been promoted comprehensively and the automatic transportation system which is mainly up with AGV is playing a more and more important role in logistics industry.This is done to improve efficiency and reduce cost.To the relatively perfect production technology of AGV,the AGV automatic transportation system management technology is important and difficult,which is also the direction of AGV research.In view of this,this paper makes thorough research on the path planning algorithm and the electronic map of cargo automatic transportation system in logistics center based on AGV.And it also develops the simulation software to verify the algorithm at the same time.The main work is as follows:Firstly,it completes the design of whole structure of AGV automation system in logistics center.Based on the introduction of the working situation and process in logistics center,the design of whole structure of AGV automation system is completed,according to the specific demand of freight transportation in logistics center.It mainly includes selection of AGV,selection of path navigation mode and design of communication system.These lay the foundation for the design of electronic map and path planning.Secondly,it completes the modeling of electronic map and the design of path planning for signal AGV.According to the characteristics of freight transportation,this system adopts two-way and single orientation to transport.Based on this,the modeling of electronic map and design of data structure of electronic map.After analyzing the advantages and disadvantages of common single AGV path planning algorithm synthetically and combined with the characteristics of this system,A* algorithm is selected as the single AGV path planning algorithm and it is improved in this paper.Consider the difference of AGV's speed in different sections and under different condition,it can't describe the cost of transportation accurately just uses the length of road.So this paper sets the time that it costs to complete transport task as the optimization target of algorithm,and the vehicle turning deceleration factors are considered into transportation costs at the same time.And it analyzes one case to verify the optimized A* algorithm,completing the model solution.Thirdly,multi AGV path planning algorithm is designed.It analyzes the possible conflicts in the system,and proposes the methods to avoid and detect conflicts.Based on the this and combined with single AGV path planning algorithm,the multi AGV path planning mathematical model,which is based on time window,is established.By detecting the real-time traffic information and tasks' status,the road which is the minimum total transportation cost,under the premise that it has no conflicts and any task can be completed is planned.At the same time,the task evaluation function is introduced to evaluate the results of path planning.Based on these,one case is analyzed and calculated by using this model and its correctness can be verified.Finally,it completes the verify of algorithm and the development of system's prototype.Based on the electronic map and the path planning algorithm in this paper,the prototype of path planning simulation software is designed by using the Qt which is based on C++ language.The software can realize the verify of the path planning algorithm that designed by this paper,and it can also implement the function to edit and display electronic map.