Research On AGV Route Planning In Flexible Manufacturing Workshop Environment

With the rapid development of global manufacturing industry,all walks of life have higher and higher requirements for product diversification and individuation.Flexible production mode has been widely adopted in the manufacturing field and has gradually become the development trend in the future.Automated guided vehicle(AGV)has become an important part of material transportation in flexible manufacturing workshops due to its advantages of safety,convenience and high degree of automation.In order to improve the material handling efficiency of the AGV,improve the production efficiency of flexible manufacturing workshop and reduce the production and transportation cost,how to reasonably plan the transportation path of the AGV in flexible manufacturing workshop and solve the conflicts in the operating environment of multi-AGV system has become the core problem that manufacturers need to focus on.Based on the analysis of AGV path planning research status,this paper studies the AGV path planning in flexible manufacturing workshops by fully considering transportation distance,transportation energy consumption and other factors.The main research contents are as follows:(1)Research on the single AGV path planning in a flexible manufacturing workshop environment.Firstly,an electronic map of the flexible manufacturing workshop is established based on the topographic method,and the single-line and bidirectional electronic map path is designed.Secondly,combined with the motion analysis of AGV in two driving modes,the single AGV energy saving path planning mathematical model is established,which takes the optimized transport path and transport energy consumption as the objective.Thirdly,a two-stage Dijkstra algorithm is proposed to solve the single AGV energy saving path programming mathematical model.Finally,the experimental results obtained the transport path of single AGV from the current location to the pick up station and deliver to the destination station with short distance and low energy consumption,which proved the effectiveness of the model and the feasibility of the solution method.(2)Research on the path planning of multi-AGV system based on time window.First,tasks are assigned to AGV vehicles based on the principle of energy consumptionoptimization.Secondly,after analyzing the conflict types of road sections and intersections between multi-AGV,Multi-AGV system path planning mathematical model based on time window is established.Thirdly,the time window is used to detect the conflicts of multi-AGV systems,and the proposed task dynamic priority setting method is used to translate the time window or quadratic programming path to resolve the conflicts between AGVs.Finally,the experimental results show that each AGV in the system can successfully complete the transportation task,verifying the correctness of the model and the proposed method.(3)Based on the research of single AGV system and multi-AGV system path planning,AGV path planning prototype system is developed.In order to manage the AGV vehicles and tasks in the system and display the AGV path planning results in real time,combined with the actual needs of the flexible manufacturing workshop,AGV path planning prototype system is developed,it realizes the monitoring and management of AGV vehicles and tasks information in the whole flexible manufacturing workshop,and ensures that problems in the system can be solved in time.In this paper,the path planning problem of single AGV system and multi-AGV system in flexible manufacturing workshop is studied,and a new method and technology of AGV path planning is proposed,which has a certain reference significance to improve the efficiency of AGV path planning in flexible manufacturing workshop.