AGV Path Planning And Application Based On Improved Ant Colony Algorithm

With the rapid growth of the number of motor vehicles in our country,the number of parking spaces in some densely populated cities is seriously insufficient.In order to solve such problems,AGV-based smart parking garages have emerged,and local governments are also vigorously promoting the "smart parking" project.The intelligent parking garage can realize the full automation of the parking and retrieval process,and the whole process does not require the driver to participate,which not only saves the driver's time,but also ensures the efficiency of parking and retrieval.As a highly intelligent and automated transportation tool,AGV can undertake handling and transfer tasks in a variety of complex working environments,greatly improving efficiency and liberating manpower.Therefore,the optimal path and conflict-free multiplicity are designed.The AGV scheduling method has great economic value and practical significance.This article first introduces the working environment of the smart parking garage,and uses the grid map method to model the parking garage environment,which provides the basis for the path planning of the AGV.In the AGV path planning,this paper uses the ant colony algorithm to solve the problem of optimal path planning,and combined with the actual needs of the project,in order to increase the driving distance of the straight line section and reduce the inflection point on the task path,this paper has carried out certain aspects of the ant colony algorithm.The path inflection point heat value and the path weight value are incorporated into the calculation of the ant colony algorithm as influencing factors.The application of the improved ant colony algorithm can effectively reduce the inflection point on the path and shorten the task execution time.Finally,the feasibility is verified by simulation And effectiveness.Aiming at the problem of conflicts in multiple AGV systems,this paper adopts the time window method to predict the conflicts.For the road sections where conflicts occurred,a strategy of delaying the execution of tasks was adopted,so that they staggered the time occupied by the road sections,so as to avoid the occurrence of conflicts.Finally,the feasibility of the time window method is tested by simulation simulation through calculation examples.On the basis of theoretical research,combined with the relevant requirements of the project,analyzed the functions of each module of the AGV scheduling software,clarified the entire work flow,designed and developed the AGV scheduling software.