Research On Safe Dispatching Algorithm Of Automated Guided Vehicle

In recent years,with the further development of logistics automation,automatic guided vehicles in a variety of logistics systems have been used more and more widely.While improving productivity and reducing labor costs,this trend also puts forward higher requirements for AGV scheduling theory.AGV scheduling algorithm is the key to the entire system which is directly related to the AGV transport system can be efficient and safe or not.In this paper,based on the research of AGV scheduling algorithm and some typical path planning algorithms,we will design a set of AGV scheduling management system.Firstly,this article introduced the static scheduling algorithm for the AGV system including single AGV system path planning algorithm and multiple AGV path planning algorithm.For the single AGV system,comparing the search efficiency of A* algorithm and Dijkstra algorithm,we chose the A* algorithm with higher efficiency as the path planning algorithm of single AGV system.For the multi AGV system,we use the way combining A* algorithm with time window model to solve the problem of path conflict between AGVs and show that the essence of time window algorithm is the translation of time window by the example analysis based on time window scheduling algorithm.In order to make up for the lack of robustness of the system using the static scheduling algorithm,this paper also introduces the dynamic scheduling algorithm.In dynamic environment,the common path conflicts include pursuit conflict,intersection conflict and counter conflict.In the dynamic scheduling algorithm,the waiting algorithm and the path re planning algorithm are the effective methods to solve these problems.It is worth noting that the waiting algorithm is more suitable for solving the intersection conflict and the path re-planning algorithm is more suitable for the conflict between the two directions.On this foundation,we propose the integrated scheduling which combines the waiting algorithm with the path re-planning algorithm,preserving the advantages of the two algorithms and avoiding the possibility of divergence due to the path re planning algorithm.Integrated static and dynamic scheduling algorithm theory,this paper designed and developed the AGV scheduling management software which has task management,AGV monitoring,AGV scheduling and other functions.Finally,we prove the effectiveness of the dynamic scheduling algorithm in solving the path conflict by simulation.