Research On AGV Path Planning And Scheduling System For High Speed Rail Track Slab Production

Driven by the Internet,economic development has entered a new stage,creating new opportunities for the development of modern factories.Automated Guided Vehicle(AGV)is powered by lithium battery and does not need manual control.Its energy saving,high efficiency and low cost ensure fast and stable transportation in modern factories.In the transportation production process,the supervision and dispatching of AGV through the central dispatching system can ensure its efficient and stable operation.Based on the existing AGV,this paper develops an AGV dispatching system suitable for ensuring the production of high-speed rail track slabs.The main contents of this thesis are as follows:First of all,the needs of the project were analyzed,and the AGV transportation management system was designed for AGV monitoring,management and scheduling.The system adopts a layered and open structure,which is divided into three subsystems: a vehicle control system,a wireless communication system and a central dispatching system.Secondly,based on the single AGV,the topological method is used to construct the electronic map of AGV operation,and the path planning theory is studied,and an improved particle swarm algorithm is proposed.This algorithm improves the standard algorithm from three aspects: introducing adaptive inertial weights,using the idea of cross mutation of genetic algorithms to perform cross mutation operations on particles,and introducing a turning factor into the fitness function.The simulation experiment of the algorithm on the MATLAB platform using grid maps proves that it can quickly obtain the optimal path with the shortest distance and the fewest turns,and then experiments based on the actual working environment map proves the effectiveness and stability of the improved particle swarm algorithm.Based on the theoretical research of single AGV,the research of multi-AGV system is carried out.Based on the actual production requirements,analyze the task scheduling strategy and indicators,and finally determine that the total AGV running time is the minimum scheduling indicator.Based on the time window graph theory,a time window model for road sections is established,and a multi-AGV path planning algorithm based on time windows is proposed.Conflicts are resolved by re-planning the path or extending the time window of the segment.After verification,this algorithm can effectively solve the multi-AGV operation conflict problem,and meet the needs of the minimum total running time of AGV in the system.Finally,based on the above theoretical research,the Kingview and VC ++ were used to jointly develop the AGV central scheduling system software,and the software was actually applied to AGV path planning,scheduling management,and plant status monitoring.In order to verify the software stability,multiple single AGV and multiple AGV random experiments were performed in the high-speed rail track slab production workshop.The experimental results show that the AGV central scheduling system developed in this paper can quickly find the optimal path according to the task information,and effectively solve the conflict problem in the multi-AGV operation process to ensure the smooth progress of the task.