Research On AGV Path Planning Based On Improved Ant Colony Algorithm

Recently,with the adventure of Industries(4.0)as well as the rapid development of e-commerce,the logistics industries have become a prominent part of economic development.As gradually,increases of labor costs,the production efficiency of the companies are also increased.The Automated Guided Vehicle,(AGV)has many advantages,such as high work efficiency,safety and reliability.The AGV can also complete complex and cumbersome tasks and use in a wide range of applications that's why it has become an important research direction of modern logistical automation.The AGV has been taken as the research object,and focused on the problem of AGV path planning and dynamic coordination between multiple AGVs as well.The AGVs path-planning problems are key technical problems in the field of AGV research.The aim of the study to plan a collision-free optimal path from the start address to the destination.The multi-AGV dynamic coordination problems depends on AGV path planning,when AGVs move at the same time in the same environment then AGVs can implement collision-free coordination.For the AGV problems,the improved and colony algorithm,the research results have been used to implement the path-planning problems.A multi-AGV system path-planning coordination algorithm has been proposed.The main work includes:1.Firstly,the AGV organization structure and AGV positioning technology have been studied,as well as established the AGV kinematics model.The different algorithms have been compared and analyzed.Finally,the ant colony algorithm is used to solve the problem of AGV path planning.2.According to the research object and the characteristics of the applicable space environment,a space environmental simulation model has been established using the grid method as well as ant colony algorithm heuristic factor calculation has been improved and the pheromone on the path has been limited by the max-min ant system.Finally,the path planning of AGV based on the improved ant colony algorithm is given and verified by simulation.3.The multi-AGV path planning structure in space environment had studied,and defined the task assignment priority and AGV priority.The path planning objective evaluation function and the selection method of parameters has been given for multi-AGV path planning system.The collision judgment conditions are determined,and because of collision satisfying conditions,a variety of different conflicts are analyzed.At the same time,different strategies are designed for different conflict.Finally,the multi-AGV dynamic path planning strategy steps had been given and verified by simulation as well.