Research And Application Of Multi-AGV Path Planning In Digital Factory

AGV path planning and scheduling task is one of the hot topics in the transport of materials and the field of automation, in order to solve the reasonable method of path planning and scheduling task scheme. This paper from the actual production application and the industrial 4.0 digital factory as the background to expand this subject research. The first, we introduce the research status of the AGV, then research the background and purpose. After from the most common traveling salesman problem leads to multiple AGV transportation system. Finally, combining computer system and MES production management system to realize scheduling and path planning of AGV system, which used in the production of a smaller platform.In this paper, mainly used the RFID positioning technology, PLC technology, field bus technology, image processing technology and three-dimensional storage technology that common in industry 4.0 systems and details on the application principle of various system. Of magnetic navigation AGV navigation methods, laser and vision navigation are summarized briefly. The equipment mainly include the current and Future Advanced Robotics (KUKA Robot) and so on, all hardware and software combination to constitute a multi-AGV transportation environment.In this environment,we focus on two tasks:complete the path planning of AGV and the scheduling task of multi-AGV system of AGV. The multi-AGV scheduling process, using the method of time window for AGV scheduling and solve the conflict and collision problems appeared in the process of transportation. Before using the algorithm the path planning of AGV, prior to the modeling in the running environment, the key modeling methods used in this paper is the grid method.Path planning algorithm A* algorithm, Dijkstra algorithm, genetic algorithm, and proposed an improved A* algorithm based on A* algorithm, the effect of friction path planning, AGV weight, volume into consideration, to seek a more perfect method of AGV path planning accurately. Combined with the actual situation and through the software simulation and analysis of the results finally improved path planning algorithm is the most suitable among the AGV A* algorithm is most in line with the actual needs.Finally,put the Visual Studio2010 software programming algorithm combined with OPC protocol and electrical equipment running the multiple AGV system, after repeated testing shows AGV running effect better, walking paths in a short time, stable operation, which verified the feasibility of the algorithm in this paper.