Research And Simulation Of AGV Path Optimization Technology

With the improvement of industrial automation,automatic guided vehicle(AGV)is a kind of mechanical transporter with a high degree of automation.It is increasingly used in various fields of industry.The wide application of AGV not only improves the production efficiency,but also reduces labor costs and improves the working environment.In the key technologies of AGV,the path planning is directly related to the level of AGV transportation efficiency.The planning of the AGV path mainly includes the optimization of a single AGV path and coordination and collision avoidance between multiple AGV paths.This article focuses on the path planning of AGV.The main research contents are as follows:Firstly,the path problem of a single AGV is studied.Based on graph theory,the AGV operating environment is modeled and an electronic map is established.The traditional Dijkstra algorithm is improved.Two factors,heat value and weighting value,are added in the planning process to predict the degree of busyness of the road section.And we use the improved Dijkstra algorithm to plan the optimal path of a single AGV.Then,for the path problem of multiple AGV systems,a two-phase path planning algorithm based on time window is proposed,including two phases of offline state and online real-time state planning.In the offline case,combined with the time window principle,the improved Dijkstra algorithm is used to perform sequential planning of multiple AGV paths.On the basis of the previous AGV planning,the improved Dijkstra algorithm is used to plan the paths of the AGVs behind one by one in sequence of priority,so that multiple AGVs can achieve collision-free operation.Under the actual dynamic environment,an on-line detection coordination strategy is proposed through the attributes of nodes and AGVs formed under off-line conditions.Aiming at the conflict problem in the actual operating environment,this paper proposes two strategies of the speed adjustment and change of the geometric path.According to the advantages and disadvantages of the two strategies,a comprehensive adjustment method is proposed.Finally,a multi-AGV simulation system is developed and designed based on Visual C# language.The simulation and debugging of AGV simulation system are performed,which verifies the validity and feasibility of the path planning algorithm proposed in this paper.The improved Dijkstra algorithm proposed in this paper can make a single AGV avoid congestion while the distance is shortest.At the same time,the proposed two-phase path planning algorithm(offline-online)avoids conflicts and deadlocks between multiple AGVs in two stages.The effectiveness and reliability of the algorithm are improved.