Traffic Coordination Mechanism For Distributed AGV

Traffic coordination mechanism design of Automatic guided vehicles(AGV),as one of the main research contents of distributed AGV systems,has attracted attention of many scholars,among which path planning and traffic coordination are particularly prominent.Although recent study on distributed traffic coordination mechanism has made some progress,open issuses such as poor path smoothness and low path effectiveness still exist in path planning,and traffic coordination strategies still exhibit low timeliness and high conflict rate.This thesis mainly studies some novel path planning and traffic coordination strategy for distributed AGV systems.By looking for the reversing point of forklift AGV,the path satisfying the coinstraint is obtained,which improves the applicability of forklift AGV path.Through computer simulation,it is proved that the algorithm improves the number of inflexion points,the success rate of planning and the effectiveness of planning.For the AGV path planning problem,first of all,by increasing obstacle constraints for institute to map model.Then an improved A*path planning algorithm is proposed,and the cost function is improved by adding the turning cost and the adjustment factor.The problem of path smoothness and path planning success rate of unicycle AGV and forklift AGV is solved,and the operating efficiency of the robot is improved.Forklift AGVs still exist and cannot be reversed in place.An improved A*path planning algorithm based on backtracking optimization method is proposed to solve the problem of forklift AGVs.To solve the problem of traffic coordination,this paper proposes a time-windowbased conflict detection algorithm for distributed AGV system,and combines map information to solve the problem of conflict prediction and identification for distributed AGV system.Secondly,in order to ensure the efficient operation of the robot in the distributed system,the traffic coordination strategy of the distributed system is designed.