Cooperative Motion Of Path Planning Algorithms Based On Multiple AGV System

Low efficiency and high labor cost of the traditional logistics transportation,and with the promotion of automation technology,especially the rapid development of computer technology and robot technology,AGV(Automated Guided Vehicle)system had been widely used in various fields of logistics,greatly enhancing the level of logistics information system and the work efficiency,reducing labor costs and manual dependence.In the actual logistics system,it generally needed to coordinate with multi AGV to carry out the work.Improving the performance of the existing AGV scheduling and path planning system could greatly improve the efficiency of the whole automated logistics transportation system,which had higher cost performance and engineering value than simply increasing the number of AGV.In addition,the conflict resolution and collaborative work of scheduling system must be taken into consideration in the increase of AGV in large scale logistics field.Therefore,the research of multi AGV scheduling algorithm and path planning algorithm in AGV automatic transportation management system could lay a good foundation for improving the efficiency and reliability of the system.Firstly,this paper introduced the kinematic difference velocity model of AGV,and then the fuzzy driving control technique was studied,the design method of fuzzy controller was explained,the control result was simulated and analyzed.Furthermore,optimal path exploring algorithm of single AGV was studied and designed.Secondly,path planning technique based on time window and direct graph was studied,which given the applicable conditions and algorithm flow.Through the comparative analysis,and taking into account the actual demand and system stability in engineering application of logistics transportation AGV system,the path planning algorithm of multi AGV based on direct graph was chosen as the path planning scheme of this paper.Based on the above foundation,for solving the collision and conflict problem of path planning in multi AGV system,this paper studied the real-time monitoring and on-line detection strategy in dynamic environment which introduced the priority based on traffic rules method to deal with the collision of the running AGV and used the combination strategy of speed regulation and geometric path regulation to resolve four kinds conflict of the running AGV and improve reliability of the system.Finally,according to the requirements of logistics engineering application in power metering center,it designed and analyzed the multi AGV scheduling system,which had been explained the development of automatic transportation management software system in detail,described outline design of each function module of database and system,and finished the final software design.Effectiveness of the multi AGV transportation management system was verified by practical operation and simulation.