Design Of Multi-agent Cooperative Control System Based On Automated Warehouse

With the continuous enhancement of China's national strength,the logistics industry is developing more and more vigorously.In the logistics industry,express parcels need to be stacked in different locations to facilitate delivery due to their different characteristics such as size and location of delivery.Compared with manual sorting,automatic sorting has advantages in cost,efficiency,risk,management and so on.In this thesis,the control problem of multi-agent system is deeply studied from the following four aspects:1.Aiming at the single agent physical construction,the technical parameters of each module of the agent are analyzed,and the selection of sensors and controllers is completed;the hardware circuit design of the agent is completed through Altium designer,and the feasibility of each module and hardware circuit is proved through real machine debugging;2.The software program design of the agent behavior control layer is realized,and the warehouse grid map is established by means of lidar,odometer and inertial navigation element;Through the global path planning algorithm and local path planning algorithm to generate the running path,and the upper computer display and monitoring,in the simulation and actual debugging can be accurately positioned,navigation;3.The topological map is established according to the environment of an automated warehouse.According to the special task mode of the automatic storage,the adaptive penalty function is constructed,the cultural algorithm and the genetic operator of asexual reproduction are introduced,and the genetic algorithm of cultural asexual reproduction is proposed.The experimental comparison proves that the genetic algorithm of cultural asexual reproduction has better optimization performance than the traditional genetic algorithm and the genetic algorithm of asexual reproduction;4.Aiming at the hardware in the loop simulation of multi-agent cooperation,the mechanical model of agent is established by Solid Works;5.A Unity-based simulation platform for co-ordination of multi-agents was established.Combined with the inertia and emergencies of agents,the real-time scheduling algorithm for coordination of multi-agents was improved,and the feasibility of the algorithm was verified in the simulation platform.The simulation platform realizes the multi-agent co-scheduling simulation under different agent structures,different maps,different tasks and different systems.According to the specific requirements of an automated warehouse,this thesis realizes the actual debugging of positioning,mapping and navigation in the aspect of single agent,which lays the foundation for multi-agent cooperation;In the aspect of multi-agent,the cooperative scheduling algorithm can be simulated in the hardware in the loop simulation platform based on Unity,which realizes the design of the system and the verification of the algorithm.