Research And Application Of AGV Path Planning And Scheduling In Intelligent Manufacturing

The AGV transportation system has multiple functions such as moving loads avoiding obstacles safely,and it plays an increasingly important role in intelligent manufacturing.AGV can flexibly move various materials during the manufacturing process of the enterprise,reduce the cost of labor transportation of the enterprise,realize the completely intelligent process management of material storage,and reduce the cost of warehousing logistics.This paper takes the AGV path planning and scheduling in the intelligent manufacturing process as the main research goal,so that the production system can obtain higher production efficiency,thereby reducing operating costs and improving enterprise benefits.This article introduces the research background and significance of AGV,and summarizes the research status of AGV and path planning at home and abroad.The article summarizes the work of domestic and foreign scholars in technical fields such as AGV task scheduling and multi-vehicle path planning,summarized their research,and carries out the research of the paper from the following parts.(1)When studying the problem of single AGV path planning,the common environmental modeling methods are introduced and analyzed,and the grid method is selected for map model establishment.And then the paper introduces the commonly used single AGV path planning algorithm,and selectes the A* algorithm after performance comparison with MATLAB,and the number of turns is optimized.(2)Research on AGV task scheduling strategy.The AGV scheduling principle is introduced and analyzes in detail,and the task allocation problem is modeled.The genetic algorithm for solving scheduling problem is introduced,and the genetic algorithm is improved.The task assignment problem is solved by MATLAB simulation method,which proves the effectiveness and superiority of the improved genetic algorithm to solve the offline scheduling problem.Discussion and analysis are carried out for the division of newly created tasks,which further improves the reasonable division and strategy of each task group.(3)The paper researchs the path planning of multiple AGVs.Three scenarios of path conflict problem are introduced,the concept of congestion coefficient is introduced to influence the distance weight between nodes,the A* algorithm is optimized,and the simulation is verified by MATLAB.The time window algorithm and the re-planning method are used to solve the static path problem of multiple AGVs,and a dynamic strategy to directly monitor and handle path conflicts is designed.(4)The various modules of the openTCS scheduling software are studied,and the function of each module and how to use it are introduced.On this basis,the openTCS software is re-developed,so that the researched algorithm was verified on the scheduling software.Through scheduling experiments,the effectiveness and superiority of the research method is demonstrated from the performance of a single AGV task model,the performance of multiple AGV scheduling systems,and the prevention and treatment of conflicts.