The Research On Route Planning Of Automatic Guidance Vehicles In Automated Warehouse

Due to the AGV(Automated Guided Vehicle)has the characteristics of high level of automation,safety,flexibility,in recent years,with the emerging of Robot technology,AGV,one of Wheeled Mobile Robots(WMR-Wheeled Mobile Robot),also widely used in automobile manufacturing,machinery processing and other Automated production and storage systems.With the rapid development of flexible manufacturing systems and automated logistics transportation system,AGV technology has been developing rapidly.By reading about the document of AGV path planning both at home and abroad,the author review and summarize the results of some experts and scholars at home and abroad with the AGV path planning,in combination with the practical situation of AGV at the scene,a new route planning algorithm of AGV in view of the warehouse system is proposed.The demand for flexible automation has significantly increased the use of Automated Guided Vehicles(AGVs)in Automated Storage and Retrieval System(AS/RS).For example,it can get access to transport goods automatically without human labors.The AGVs in the warehouse environment travel among the multiple workstations by following a set of predetermined routes.A reasonable path-planning is fundamental for the effective work of AGV.Therefore,the routing problem has gotten wide spread attention.For the rectangular environment map of the AS/RS system,the traditional Dijkstra algorithm can only find one shortest path,and skip over other paths with the same distance.An improved Dijkstra algorithm is proposed to solve the path-planning problem in the rectangular environment,which can find all equidistant shortest paths.The optimal path with both the shortest distance and time is obtained by adding running time to the path-planning evaluation.This paper deals with the off-line route planning of Automated Guided Vehicles(AGVs).We propose a self-adaptive conflict-free route planning approach for the AG Vs' control system based on conflict classification in a warehouse system.Besides,a conflict-free solution based on conflict types is proposed in this paper--Based on the theoretical analyses and experiments,we select the suitable solution for each type of collision.The route planning algorithms for single AGV and multi-AGVs are programmed by using Visual C++,and the simulation results show that the algorithm is effective and feasible for path-planning in the AS/RS system.Presented simulation results demonstrate the efficiency of the proposed conflict-free route planning approach.