AGV Scheduling System And Research Of Path Planning Algorithm

Automated Guided Vehicle(AGV)appears in 1950s.It is an automatic and intelligent transportation equipment.It belongs to a kind of mobile wheeled robot.AGV can carry out the tasks of material handling,transportation and transfer in the automatic production line or material transportation system.It is the whole logistics transportation automation.AGV is an important part of the whole logistics and transportation automation system and industrial production automation control system.Manufacturing,transportation,logistics and other industries have gradually adopted AGV automatic transport to replace traditional manual handling and forklift transportation.Most of these enterprises' production logistics orders are characterized by short period,many batches,small amount of single transport,complex path and so on.Therefore,a set of high efficiency and optimization is developed.The service allocation plan and the AGV scheduling management system for multi AGV planning the shortest path without conflict are of great practical significance.This paper analyzes and summarizes the research status of AGV scheduling and path planning algorithms at home and abroad,studies the scheduling principles and scheduling tasks of AGV system,AGV path planning algorithm and so on,and develops a set of AGV scheduling management system software.The main contents of this paper are as follows:Based on the functional requirements and modular design principles of AGV scheduling system,the various functional modules of the scheduling system are introduced.The AGV software system system is classified into three categories:application layer,control transport layer and module function layer.The work flow of the AGV software system is planned,database design and software design of AGV scheduling management system are also carried out.Based on the topology map representation method of graph theory,the AGV electronic map model is established by combining the storage mode of adjacency list,and the position of top/bottom charging point,charging station and stop point in the actual workshop environment is described.Based on the principle of compound index scheduling,the scheduling task is modeled by considering the driving distance and AGV utilization of AGV.An online task scheduling strategy for task queuing is proposed,which can satisfy the scheduling requirements of multi task allocation to multi AGV,define the life cycle of task and task,and carry out the task priority.Distribution;Based on the simulation experiments of several path planning algorithms for the shortest path problem of the directed graph single source,the A*algorithm in the shortest path planning is superior to the Dijkstar algorithm.Through 20 groups of simulation experiments,it is proved that the average search amount of the improved A*algorithm is 125 times and the average turn times is 3 times,which is superior to the traditional A*algorithm 40%,and the improved A*algorithm is verified.The number of search and turn times is better than the A*algorithm.Based on the single AGV operation experiment,the requirement of the shortest path with the least turning times of the scheduling system is verified by the scheduling system.It is also verified that the improved A*shortest path planning algorithm is reasonable and can reach the expected goal.Based on the test experiment of single AGV multi task random allocation,it is proved that 10 tasks are assigned to the same AGV.Among them,the shortest path of the 10 sets of tasks can be planned and the number of 8 path turns is the least.Based on the scheduling experiments of two AGV,the shortest path for AGV 1 and AGV2 is planned by the scheduling system.When the node two AGV conflicts,the AGV1 will pass the priority higher priority,and the effectiveness of the scheduling system priority allocation strategy is verified.