Research On Pull-Type Multi-AGV System Dynamic Path Optimization Based On Time Window

With the proposal of "China made 2025" plan,more and more manufacturing enterprises are committed to automatization and intellectualization of manufacturing process.Production automation is inseparable from automatic distribution of materials.AGV system is gradually replacing traditional distribution methods such as manpower and conveyor belts.With the increasing number of small and small batch orders,the single AGV delivery system can not meet the needs of production.Multiple AGV complex systems have shown greater advantages in improving production efficiency and realizing information technology.At present,the modular production and manufacturing technology of AGV has been basically mastered in China,but there is no complete system for task scheduling and path planning in the operation of multiple AGV complex systems.The purchase cost of AGV system is high,and the unreasonable use will bring huge waste.In particular,under different scheduling and planning schemes,the transportation efficiency and the cost of use will also vary greatly.Therefore,the path optimization problem of multi AGV complex system has become the focus of attention of enterprises and academia.This paper is a study of the dynamic path planning problem of towed multi AGV complex system.First,on the basis of research status at home and abroad,the conflict types,common planning algorithms and task scheduling methods of different AGV complex systems are compared and analyzed.By comparing different algorithms,the Dijkstra algorithm is selected as a path planning algorithm.Secondly,a mathematical model is set up for the shortest path of total driving path,and a general algorithm for multi AGV collision free path planning based on time window is proposed.After a thorough study of the shortcomings of traditional single car planning and conflict resolution algorithm,a time window improvement algorithm for the planning path and the solution of the path conflict covariance is established.Experiments on VC++ software show that the improved algorithm reduces the distance of path planning and improves the punctual delivery rate of tasks.Finally,the algorithm is applied to the material distribution in the OSIS workshop of C enterprise.Through the improvement of the data before and after the comparison,it can be determined that the method is feasible in the actual production and has a certain application value.The results of this paper can provide theoretical basis and data support for the research in the same field,and also provide a reference for the practical production and application of manufacturing enterprises.