The Research Of AGV Path Planning And Scheduling System

With the development of factory automation and information integration, higher requirements to the logistics system in modern industrial production have been put forward. Automatic guided vehicle(AGV) is a kind of automatic transportation equipment which can complete the assigned tasks in a given path and scene information layout. AGV transportation management system which plays the role of management and scheduling is an important part of AGV system. Based on the development of the AGV and various aspects of theoretical research, this paper conducts a research on the development of AGV transportation management system. The main research contents are as follows:Firstly, this paper carries on a research on AGV path planning technology, both single and multi AGV path planning technology are included. Electronic map was set up for the theoretical study of the Dijkstra algorithm and A * algorithm in single AGV path planning by using topological maps method, and these two algorithms were compared by examples. In the respect of multi AGV path planning, the multi AGV path planning algorithm was studied based on time window and was verified by examples. Concerning to various conflicts problems which may arise in the process of scheduling, the conflict resolution strategy based on the speed and the geometric path adjustments was studied.In addition, on the basis of the traditional Dijkstra algorithm, an improved Dijkstra algorithm was proposed, and the heat value and the weighted value were introduced to evaluate how busy in the path in case of the congestion problem during the busy period. According to the two conflict resolution strategies which respectively based on speed adjustment and geometric path adjustment, a compound conflict adjustment resolution strategy was proposed, aiming at solving the long waiting time problem which based on speed regulation and a non-convergence path re-planning problem which based on the geometrical path adjustment.Finally, on the basis of the theoretical research results above, AGV transportation management system was developed based on the VC++ platform, with the purpose of the AGV path progamming, monitoring and scheduling.In order to verify the validity of the theoretical researchs and the stability of AGV transportation management system, the operation stability of single AGV and multi AGV was verified by experiment based on the development of AGV and combined the real operating environment in the factory in fifth chapter. The experiment results indicate that the AGV transportation management system developed in this paper which meet the project requirements can effectively ensure the smooth operation of single AGV and multi AGV, and can solve the conflict problem appeared in the operational process.