Reserach Of AGV Group Control System For Manufacturing Workshop Flexible Logistics

As the country's productivity and intelligence increase,robots began to develop in the direction of alternative human activities,including manufacturing,service,military,education,industrial,transportation,medical,etc.These include complex tasks that are highly repetive,high-risk,difficult,and extreme,even those that humans cannot.However,the ability and efficiency of a robot to work is limited,and stand-alone work can no longer effectively cope with increasingly complex tasks and cannot cope with the rapid development of society.Therefore,the AGV group control system has become an increasingly important research direction.The AGV group control system applied to the flexible logistics of the manufacturing workshop is developed,so that the AG Vs can cooperate with each other and avoid collisions.The AGV body can automatically avoid collisions.The AGV body can automatically avoid obstacles,automatically charge and does not depend on the fixed road network,which is of great significance.This paper mainly studies the AGV group control system applied to the flexible logistics of manufacturing workshop,and designs a centralized AGV group control coordination system based on time window algorithm.It is designed to solve the group control coordination,task assignment and path planning problems of multi-AGV in manufacturing workshops without rails.This paper has mainly studied in the following aspects:1?Research on AGV group control coordination algorithm based on time window algorithm.Based on the fixed-path network time window scheduling idea,an AGV group control coordination algorithm combining static time window and dynamic scheduling is proposed.This algorithm can realize multi-AGVs in the manufacturing workshop without any fixed markers and tracks.Collaborative work avoids the labor and material costs of paving the road network and specific markers,and improves the flexibility of transportation in the manufacturing workshop.2?Research on task allocation algorithm of AGV group control system.The objective function adopts an online task scheduling scheme that minimizes the total travel time,prioritizes tasks according to the time of task creation,and prioritizes tasks with higher priority.Finally,compare all the lengths of the specified task path in the idle state AGV,and the AGV with the shortest path acquires the specified task.3?Research on AGV path planning algorithm.The global path planning adopts the A*algorithm based on the shortest path,and the local path planning adopts the optimized Dynamic Window Approach(DWA),so that when two AGVs in the opposite direction collide,the two AGVs simultaneously choose to drive to the right.In turn,the effect of two-way road driving can be achieved.4?Design the AGV group control system software and start the simulation experiment.The group control coordination,task assignment,path planning,communication protocol and other modules are organically combined to form an AGV group control coordination system that can be used for simulation test,which is used to analyze the function of each module of the system and give experimental results.