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Path Planning And Scheduling For Multiple AGV System Based On Improved Two-staged Traffic Control Scheme

Posted on:2009-06-09Degree:MasterType:Thesis
Country:ChinaCandidate:J R WangFull Text:PDF
GTID:2178360272977579Subject:Mechanical and electrical engineering
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With the widely application of Automated Guided Vehicle (AGV), the scheduling of these AGVs becomes the key to an efficient logistics system. The objective of this thesis is to propose an effective evolutionary approach for dispatching the multiple AGV system, in which minimizing time required to complete all jobs without any conflict and deadlock.This dissertation in detail surveys the Chinese and English literatures and introduces an improved two-staged scheduling algorithm to obtain collision-free minimum-time motions of AGVs. The overall structure of the controller is divided into two tandem modules of an off-line routing table generator and an on-line traffic controller. First, k candidate paths are prepared by genetic algorithm off-line, and stored in the form of routing table. Each time a dispatch command for an AGV is issued, the on-line traffic controller utilizes the table to generate a collision-free path by the traffic rules, if the k candidate paths are not suitable then generate the feasible path by genetic algorithm with constraints on-line.In this paper, genetic algorithm is used to find the k-shortest path off-line on the base of electronic map of the netted road and to generate the feasible route on-line considering about the constraints. On the on-line stage, the real-time traffic control rules are presented to look for the suitable routes of AGVs, and the conflicts and deadlocks are avoided through velocity regulation.It is proved with simulation on eM-Plant software and application that this strategy improves flexibility, robustness and efficiency of AGV system, which provides technical support for the application of AGVs in the manufacturing system.Finally, the whole work is summarized and some suggestions are proposed on what needed in further study.
Keywords/Search Tags:Automated Guided Vehicle (AGV), two-staged control scheme, genetic algorithm with constraints, dynamic path planning, conflict avoidance policy
PDF Full Text Request
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