Design And Implementation Of Multi-AGV Distributed Autonomous Control System

With the development of modern industry,the demand for automated and intelligent production lines has been increasing,and the Automated Guided Vehicle has emerged.The shift of industrial production lines to a highly intelligent,large-scale,complicated,and high-efficiency direction requires the automatic guidance of small cars to a more large-scale and more complex collaborative operation mode.Multi-AGV control systems have become the current research hotspot.In terms of control structure,the traditional centralized control method has a bottleneck in terms of computational efficiency and load sharing as the number of AGVs increases.Because the system has high requirements for real-time performance and stability,the system adopts a distributed control method to achieve many AGV's autonomous control system.This article analyzes the development status of AGV at home and abroad and the key technologies of multi-AGV autonomous control system.According to the actual needs of the project,it analyzes the actual application scenario of the system,discusses the network architecture of the system,and determines the overall structure of the system.Then,based on the requirements of the overall structure,the architecture,operation process,behavior characteristics and control structure requirements of the AGV vehicle-mounted system are analyzed.The construction of the electronic map of the AGV and the problem of the shortest path planning are deeply studied.According to the real-time requirements of the AGV system for data transmission,a two-layer communication method is proposed.The bottom control system adopts the control method of the fieldbus.The upper application system adopts the communication method based on the local area network and analyzes the information collection process of the AGV system.Carries on the auto-negotiation decision mechanism between multiple AGVs and the communication protocol design of the network application layer.Finally,the AGV electronic map is used to construct and calculate the results of the shortest path,and a multi-AGV task scheduling mathematical model is constructed to propose an optimal task scheduling strategy for multiple AGVs,and the design of themulti-AGV autonomous control system is completed.The realization of the system analyzes and designs the development process and functional modules of the vehicle-mounted control system and the central monitoring and management system,and builds an experimental platform to conduct pilot test operations at the industrial site.The experimental results prove that the overall technical solution of the system is feasible,and the software and hardware systems developed are stable.