Logistics Sorting System Based On Multiple AGV Scheduling

The development of the electricity industry is unstoppable,and the logistics is an important part of it.The efficiency of logistics sorting affects the development speed of the electricity industry to a great extent.Because can not keep up with the development of the industry,the traditional industry will gradually be replaced.Robots replace labor,improve efficiency and accuracy,reduce costs is the inevitable trend of development.AGV logistics sorting system with a large number of mobile robots to load and hand express parcels,can greatly improve working efficiency.The automation of logistics sorting is also a hot topic in the field of research and application.With the "Industrial 4.0" development,the future of logistics sorting will also move in the direction of intelligent.This paper studies a logistics sorting system based on multiple AGVs.The main content of the research is the path planning of multiple AGVs.The logistics sorting system needs to pay the lowest-cost collision-free path for the AGV trolley under certain constraints,and the path is optimal or near optimal from the starting point to the target point.The traditional heuristic A* is suitable for planning a trajectory of AGV.However,for the path planning of multiple AGVs,if the A* algorithm is used to plan the trajectories of each AGV car and then simply combine,many cases will inevitably collide.This requires an improved A* algorithm to track multiple AGVs at the same time.The improved A* algorithm replaces the original two-dimensional space map with a three-dimensional space-time map.The original heuristic A* algorithm is replaced with a cooperative A* algorithm,and the reservation table and the improved reservation table are introduced.These principles are very good to avoid the collision problem.Finally,based on the actual AGV logistics sorting process,the virtual warehouse map is established,the working environment of AGV logistics sorting is simulated,and the logistics sorting process of AGV is simulated.The above-mentioned trajectory planning and multi-AGV trajectory planning and AGV logistics sorting simulation process are based on Visual Studio 2012 development platform,based on the C# language to prepare a simulation experiment platform,and carried out a simulation experiment.The comparison of the experimental results with our proposed theory shows the rationality and applicability of the above theories,and the correctness of the C# simulation experiment platform is illustrated.