Research On AGV Scheduling Method In Large-scale Production Workshop

AGV,Automatic Guided Vehicle,is a kind of efficient,stable,flexible unmanned handling tools,which is widely used in the manufacturing industry.Logistics scheduling of large-scale production workshop,however,has its unique characteristics,such as a huge number of handling missions,strong dynamics,and relatively complex road network,which has higher requirements for the AGV scheduling models and methods.Therefore,it will be of great significance to explore and design an appropriate AGV scheduling method for large-scale intelligent workshop.This paper studies the problem of multi-AGV task scheduling and single AGV path planning in large workshops.In this paper,a multi-AGV task scheduling method based on the Multi Agent System and an improved A * algorithm is designed,and finally an AGV scheduling system is developed,which integrates methods and implements a graphical monitoring and display of the system status.Firstly,Hybrid MAS model is established.Based on this,an improved contract network protocol based on locking mechanism and an optimized exception handling mechanism are proposed.Through the Plant Simulation experiment,the method is proved to be superior to SMAS,FCFS,NAF and AWD.Secondly,an improved A* algorithm is put forward to solve single AGV path planning problem in the large workshop in terms of the characteristics of multi stations and complex road network.Through the experiment,it proves that the improved A * algorithm behaves better than the Dijkstra algorithm and traditional A * algorithm with less nodes and smoother path.Then,an AGV scheduling system is developed,which integrates the improved A * algorithm and the task scheduling method based on the MAS,and implements the function of graphical monitoring of the location of AGVs,the status of each sensor,and the completion status of tasks.Lastly,the thesis is summarized,and the future research is prospected.