Study And Development Of Autonomous Control Multi-AGV System Based On Agent

Automatic Guided Vehicle (AGV) is an important material handling device used in automaticmanufacturing. With the increase of the degree of manufacturing automation and the scale ofproduction, single-AGV system can’t meet the needs. Thus people turn to the research of multi-AGVsystem which has already been put into preliminary use. This paper models the AGV based on agenttechnology and studies the key technologies of the autonomous operating system of multi AGVsbased on distributed control structure.On briefing the control technology of multi-AGV system, the strengths and shortcomings of bothcentralized system and distributed system are analyzed and the overall structure of multi-AGVautonomous control system is determined. Based on the overall structure of the system, the singleAGV architecture based on agent technology and the architecture of distributed control multi-AGVsystem are established. Based on the characteristics of communication mechanism and intelligentcooperation of multi-AGV system, the communication structure combining both implicit and explicitcommunication is put forward.Based on a detailed elaboration of the AGV modeling using agent technology and the actualrequirements of system, this paper models the map using graph theory; optimize Dijkstra algorithmusing a priority queue based on heap structure according to the features of the map, thus thecomplexity of route planning algorithm is decreased. On the basis of single AGV modeling, themulti-AGV autonomous control system is designed. The autonomous communication and cooperationmechanism and the conflict resolution strategy of multi-AGV system are put forward.Finally, the software and hardware of the controller equipped on AGV and the upper supervisorysoftware of distributed multi-AGV autonomous control system are developed. The experimentalenvironment based on the AGV development platform in the laboratory is established and theexperiments of the hardware and software system are carried out. The feasibility and applicability ofthe overall technical solution and the effectiveness of the software and hardware system developed areverified by the results of the experiments.