Research Of AGV Path Planning And Scheduling System

With the development of artificial intelligence and automatic control,the development of robot technologies has been paid more and more attention.The Automated Guided Vehicle(AGV),as the main logistics equipment,is widely used in digital factories,warehousing and transportation systems,flexible manufacturing systems and other logistics occasions because of its flexible and high degree of automation.Choosing a reasonable operating path and scheduling program for AGVs is of great significance for improving the overall production efficiency and reducing the cost of products.On the basis of summarizing the relevant literature,the main contents of this paper are as follows:Firstly,the AGV environment model is developed by using the topological modeling method,and the navigation path of AGV is determined as a one-way guidance path.In this paper,the single AGV shortest path algorithm is studied.Based on the characteristics of AGV paths in the actual factories,the influence of the weighting of the weighted Manhattan distance on the efficiency of the algorithm is studied to improve the A* algorithm.The improved A* algorithm is used for single AGV path planning.Secondly,on the basis of single AGV path planning,the scheduling algorithm of multi-AGV system is studied.It is proposed to use time window-genetic algorithm in order to solve the task assignment and path planning of a multi-AGV system to minimize the maximum completion time and waiting time of all tasks.The time window algorithm is used for AGV path planning and the time window arrangement in every path.The distribution scheme of the scheduling system is obtained and the simulation experiment is carried out.Finally,the software part of the scheduling system is designed,and the simulation experiment and the real vehicle experiment of the single AGV path planning are carried out to verify the feasibility of the path planning algorithm.