Modular AGV System Design And Path Planning

With the rise of Industry 4.0 and the promotion of the Made in China 2025 program,more and more enterprises have begun to transform,from the traditional manual handling into machine handling.AGV(The full name of English is Automated Guided Vehicle,which means Automatic Guided Vehicle)as a logistics handling mobile machine,has been widely used in various industries.With the increase in the number of AGV,the application of different environments,AGV system needs more and more.Based on the layout of the packaging workshop,it designed an AGV PC system and a modular AGV car,and the problem of path planning in AGV system is studied in this paper.The main contents of this paper are as follows:(1)AGV system overall design.For packaging workshop,this paper description and analysis of the requirements of the AGV system,constructed the system architecture and workflow of the system and the modular design of the AGV,the modular design of the AGV is mainly for the body structure module,automatic docking device module,man-machine interface module and hardware module selection design.(2)Workshop environment modeling and Research on Route Planning of Single AGV System.The environment modeling of the packaging workshop and introduction of several single AGV path planning algorithms,and used the Dijkstra algorithm,A*algorithm for an example comparison.Finally,the Dijkstra algorithm is used as the single AGV path planning algorithm.(3)Research on Multi-AGV Path Planning Based on Time Window.The process of time window algorithm is expounded,and the feasibility of the algorithm is verified by case analysis.(4)Research on Dynamic Multi-AGV Conflict Resolution.This paper analyzes the advantages and disadvantages of the priority traffic rule method and the geometric path adjustment strategy.On the basis of the two strategies,the conflict rules of dynamic multi-AGV are solved by the combination of priority traffic rule and geometric path.Through the comparative analysis,It's effectiveness.(5)AGV PC system development.The system has been the choice of the development platform and the overall framework design,and has carried on the detailed design and the realization to each function module.Finally,the system is simulated.