Research On AGV Path Planning Strategy In Automobile Assembly Workshop Based On Improved Ant Colony Algorithm

With the development of industrial automation technology,the process of automobile assembly and transportation has gradually become intelligent and unmanned.With its advanced autonomous navigation function and intelligent level,Automated Guided Vehicles(AGV)can frequently shuttle in the complex working environment of automobile assembly workshop,and undertake the task of heavy physical material transportation,which greatly save labor costs and improve transportation efficiency.The research shows that the current AGV driving route in the automobile assembly workshop is single,and it is difficult to ensure the efficiency and path safety of complex transportation tasks.In order to solve the above problems,this paper proposes an AGV path planning strategy based on the improved ant colony algorithm on the basis of the previous research,and discusses the path planning methods suitable for the working conditions of the automobile assembly workshop under the conditions of single AGV and multiple AGVs,which improve the transportation efficiency of auto parts,avoid conflicts in the process of multi-AGV transportation,and improve transportation safety.The research content is detailed as follows:(1)Aiming at the problem of single AGV path planning in the static environment,an improved ant colony algorithm is proposed.In the design process of the algorithm,the path length,security and smoothness of the fitness function are considered comprehensively;the heuristic information of the target point in the heuristic function is constructed,and improve the state transition transformation and pheromone update rules;the inflection point optimization strategy and the segmented B-spline curve are proposed to optimize the path secondary.Simulation experiments show that the proposed improved ant colony algorithm can effectively avoid the problems that the traditional ant colony algorithm is easy to fall into local extremum and slow convergence speed.(2)Aiming at the problem of single AGV path planning in dynamic environment,a double layer planning algorithm based on the combination of global path planning and local path planning is proposed.In the global path planning,the global optimal path is obtained by the improved ant colony algorithm;in the local path planning,the improved Dynamic Window Approach is proposed to avoid the dynamic obstacles in the environment for the dynamic obstacles that appear temporarily.Simulation experiments show that the double layer planning algorithm can effectively solve AGV path planning problem in dynamic environment.(3)Aiming at the multi-AGV path planning problem in dynamic environment,a multi-AGV path planning strategy based on task priority is designed.Based on the research results of single AGV path planning in dynamic environment,the path conflicts in multiAGV path planning are analyzed and the corresponding collision avoidance strategies are proposed.Simulation experiments show the feasibility of the fusion algorithm combining priority and obstacle avoidance strategies in multi-AGV path planning.