Research On Path Planning And Scheduling Algorithm Of AGV System

With the development of intelligent logistics equipment and flexible manufacturing,Automated Guided Vehicles are widely used in intelligent workshops,smart factories and other fields.AGV is a modern handling tool with many advantages such as automation,informationization and intelligence.It plays an important role in improving enterprise efficiency and reducing the cost of human resources.The path planning and scheduling algorithm of AGV system is the focus of research in the application of AGV.Based on the research and analysis of the research results of experts and scholars at home and abroad,this paper first studies the environment modeling of AGV system,introduces and compares several commonly used methods of environment modeling,and chooses the topological map method to construct the environment which is flexible and easy to maintain model.The storage structure of topology map information in MySQL database and the way of database access are introduced in detail.Secondly,the traditional ant colony algorithm for the global path planning of AGV system has the problem of slow convergence speed and easy falling into the local optimum.Based on the target-oriented principle of A*algorithm,the transition probability is improved and the strategy of dynamically adjusting the volatility of pheromone is introduced Pheromone update,thus improved ant colony algorithm.In the multi AGV system,the two level conflict prevention strategy,which combines one-way graph method,time-window algorithm and traffic rule method,is used to avoid the occurrence of conflict.Then,aiming at the problem of AGV resource preemptive caused by fixed priority in scheduling algorithm,a real-time priority list design method based on relative deadline and initial priority of tasks is proposed,and the concept of task satisfaction which can be used to evaluate the performance index of AGV system is derived.Finally,under the platform of Visual Studio 2015,AGV system scheduling software is developed,and the path planning and scheduling algorithm of AGV system is simulated and verified.The experimental results prove the validity of the view.