Research On Path Planning And Coordinated Control Of Multi AGV(Automated Guided Vehicle)

With the development of science and technology,people's demand for intellectualization is getting higher and higher.AI technology is playing an increasingly important role in life production,and multi-agent technology is more and more popular.Nowadays,Coordinated control system of Automated Guided Vehicle has been widely used in intelligent transportation.In order to meet the increasingly diverse working environment and tasks,optimizing the system performance is the top priority of today's high standard production operation.The problem of path planning,system consensus control and performance optimization of cooperative convey are solved in this paper mainly.First of all,in order to optimize the path planning strategy,redundant points are simplified in the path and fewer inflection path is filtered based on grip map of environment so as to smooth the path.The length of the path is shorten as far as possible within a safe distance to the obstacles,which further reduces the number of inflection points and deflection angle in order to get a more smooth path.In addition,an evaluation function is constructed to compare the performance of the algorithm and results of arithmetic shows the improved algorithm is more security and stability.In the second part,this dissertation proposed a solution to fast consensus of first-order systems without changing the network topology.The sufficient condition to guarantee a faster consensus convergence has been obtained based on the frequency-domain and graph theory analysis.The last part elaborated a path planning method of multi-agents when they carrying a object together.The new method which determines the path point when the rod-shaped object needs to deflect is proposed.The experimental results show that the improved algorithm can make the path distance of each agent shorten and the path getting more smooth with less position changing.