Research And Implement Of Route Planning About Automated Guided Vehicles In Automated Storage Scheduling System

With the wide application of flexible manufacturing systems,the domestic demand for automated guided vehicles has also gradually increased.In the whole automation warehousing logistics,AGV transportation cost accounts for a higher proportion of total cost,precise scheduling of warehousing tasks and AGV's good path planning tactics are of great significance to improve logistics operation efficiency and reduce transportation costs.Aiming at path cost optimization and scheduling efficiency problems in AGV path planning,storage task scheduling and vehicle scheduling strategies based on the shortest task waiting time is proposed.We prioritize urgency tasks,charging tasks,and general real-time tasks in warehousing and transportation.The prioritization of warehousing tasks includes the initialization of priorities when warehousing tasks are generated and the dynamic priority adjustment of tasks loaded by AGVs during cargo transportation.By dynamically adjusting real-time tasks,efficient scheduling of transportation tasks can be achieved.For the matching of storage tasks and loadable AGVs,the vehicle matching degree sorting is performed for each storage task,and each storage task of the vehicles to be assigned corresponds to an available vehicle queue,and the vehicles themselves have an assigned task to be performed.For the queue,this article elaborates on the matching rules for storage tasks and loadable AGVs,and achieves a reasonable allocation of AGV vehicles.A route optimization algorithm based on priority queue and locked time window of nodes was proposed for AGVs route planning issues in automated warehouse logistics system,so as to find a conflict-free route of the lowest cost.A-Star algorithm will be used to heuristically search path for AGVs respectively to get temporary shortest route,and calculate the time the car access warehouse nodes.The collision will be avoided by calculating time window of nodes accurately and locking.By creating a task priority queue and dynamically allocate priority of task,can effectively avoid hunger and deadlock of task.Finally,when the obstacles are in the path,by dynamically changing the path weight,real-time obstacle avoidance is achieved.Finally,The simulation experiment show that the algorithm can achieve the route of the lowest cost under the condition of collision-free,thereby the efficiency of task and vehicles scheduling can be improved.