Research On AGV Path Planning And Collaborative Scheduling Strategy In Intelligent Factory

With the in-depth promotion of "made in China 2025",the manufacturing industry has set off a wave of intelligent transformation.As one of the key elements to realize intelligent manufacturing,intelligent logistics system plays an important role in promoting the development of industrial intelligence.Since the 1960 s,AGV(automatic guided vehicle)has played an increasingly important role in intelligent logistics system.With the rapid rise of e-commerce industry and highly flexible manufacturing requirements,the efficiency of AGV path planning and the effectiveness of AGV task allocation and collaborative scheduling have always been technical problems to be solved.This paper studies the path redundancy of single AGV and the congestion,deadlock and conflict of multiple AGVs.The main research contents are as follows:Firstly,this paper studies the ant colony algorithm with strong path planning performance.In view of the slow convergence of ant colony algorithm in the early stage,this paper proposes a parameter dynamic selection and optimal path reward mechanism;In order to prevent the algorithm from falling into local optimization in the later stage,a pheromone limit updating strategy is proposed,and the effectiveness of the improved algorithm is verified by traveling salesman problem.Combined with several modeling methods,a simple,efficient and easy to implement grid map method is selected.Aiming at the possible deadlock problem of AGV,the corresponding solutions are proposed.Secondly,a single AGV distance function is established to optimize the shortest path.A simulation environment was established based on MATLAB to verify the effectiveness and feasibility of the improved algorithm in AGV path planning.The planning structure of multi-AGV system in space environment is studied,and the task allocation method and scheduling principle of AGV are analyzed.In view of AGV conflict,a speed strategy of high plus low minus is proposed according to the principle of priority.Finally,aiming at the optimization problem of multi AGV scheduling strategy studied in this paper,2D and 3D modeling are carried out in plant simulation software,a multi AGV collaborative workshop with six processing stations is established,and the simtalk program is compiled for the AGV conflict problem.Finally,through the experimental comparison,the simulation conclusion is obtained to verify the feasibility of the proposed improvement strategy.