Research On AGV Green Energy-saving Path Planning Based On Dijkstra Algorithm

With the continuous promotion of "Made in China 2025",more and more enterprises have started to implement automation improvements in their manufacturing workshops,and the use of AGVs to replace traditional manual material handling methods has become an important direction.In 2022,the Two Sessions once again proposed to promote the work of "carbon peaking and carbon neutrality" in an orderly manner and the implementation of the relationship between industrial development and energy saving and emission reduction,and the issue of how to reduce energy consumption during AGV transport began to be discussed.A reasonable path planning for AGVs can not only reduce consumption and save resources,but also reduce costs and increase benefits.This paper carries out a study on the planning of AGV system paths in a flexible manufacturing workshop.Firstly,after summarizing and analyzing the research of AGV development,path planning and energy consumption issues at home and abroad,it was found that fewer scholars have studied the energy consumption of AGVs in the path of flexible manufacturing workshops,and therefore carried out the research content of this paper.Secondly,by comparing three typical algorithms for path planning,Dijkstra’s algorithm was chosen according to their advantages and disadvantages and the characteristics of the flexible workshop.The Dijkstra algorithm is also improved in order to be able to plan low energy consumption paths.Next,the single AGV energy saving path planning is discussed and studied.After comparing three different map modelling methods,the raster map method was chosen according to the layout of the workshop and the characteristics of the obstacles.After that,the energy consumption that the AGV may generate is analyzed from the perspective of kinematics,and a mathematical model with the goal of low energy consumption and short path is established.Use the improved Dijkstra algorithm to plan all the shortest paths,and then bring them into the energy consumption model to complete the planning of green energy-saving paths.Finally,the collision-free path of the multi-AGV system is planned.After analyzing the conflict types that may be generated by multiple AGVs,a multi-AGV energy-saving path planning model and a time window model are established.Use time windows for conflict detection and classification,and formulate different conflict resolution solutions according to different types.Combined with the energy-saving path model and the time window model,a conflict-free green energy-saving system path is planned.Finally,a case is used to verify the feasibility and effectiveness of the scheme.In this paper,the planning and research of single AGV and multi-AGV systems are carried out on the basis of considering energy consumption,which has certain reference significance for reducing enterprise energy consumption and practicing green and low carbon.