Research On Scheduling Strategy Of Parking Lot Based On Parking AGV

In recent years,the contradiction between the shortage of urban land resources and the strong demand for parking spaces has intensified,and the difficulty of parking has gradually become an unavoidable problem that most cities in China need to face.Driven by the vigorous development of the AGV market and the rising demand for parking lots,parking AGV,as a new derivative application field of AGV,is quickly entering the public’s field of vision.At present,parking scheduling strategies based on parking AGV still have many immature aspects.This thesis takes the AGV’s parking lot as an application scenario and studies its scheduling strategy,which is intended to improve the parking efficiency and user experience.The main work is as follows:Firstly,the control scheme of the parking AGV is analyzed and designed.And the functional correlation framework is clarified among path planning algorithm,task allocation strategy and conflict coordination strategy.The relevant technical parameters of the parking AGV are introduced,and the comb-tooth parking AGV is applied to facilitate the subsequent layout.According to the characteristics of the parking lot with special-shaped plots,the topology method and the mixed mode are used to design the path through two-way and some single-way driving.Then,the path planning problem is analyzed,and the moving time is used as an indicator to determine the path quality.The intersection turning factor is introduced,and an improved A*algorithm is proposed to plan the shortest path with fewer turns.For the task allocation problem,various scheduling tasks are defined and assigned corresponding priorities.The evaluation function of AGV allocation is established,so that user order tasks can be allocated to the appropriate AGV.Considering the longest waiting time for car owners to pick up cars during peak pick-up times,Traditional first-come-first-served strategy is improved to achieve a reasonable order of task execution when the backlog of car picking tasks.By analyzing the various conflicts that may occur in the parking AGV,the corresponding coordination strategy is formulated.At the same time,the concept of"exclusive area" was introduced to avoid AGV deadlock for some areas.Finally,the general software openTCS for AGV system was adopted to modify and expand its functions.According to the node information table and topology relationship table,the corresponding parking lot electronic map is constructed on the Plant Overview interface.The path planning algorithm,task allocation strategy and conflict coordination strategy discussed are simulated and verified.The results show that the scheduling strategy proposed has certain feasibility and effectiveness.