The Design And Optimal Scheduling Of Heterogeneous AGV System In Storage Environment

Automatic Guided Vehicle(AGV)scheduling system is an effective way that can improve the production efficiency and decrease the labor intensity as well as danger degree in industry environment.In fact,wasting of resources and high energy consumption problem can occur during the running process of AGV due to the factors such as the warehouse space,the layout and structure of shelves and the design of routes.In order to solve these problems,we adopt heterogeneous AGVs to complete the AGV scheduling tasks by introducing the energy consumption model.In order to implement the AGV scheduling system,this thesis has carried on the thorough construction of the whole system,including the structure of the hardware and software.In the construction of the hardware,it is divided into 3 parts: the computer management system,map and task management server and AGV system.In the design of software,it is divided into five parts: communication module,map storage and task management module,AGV task allocation and path planning module,traffic management module and AGV subsystem.Then this thesis builds the modeling of the AGV scheduling system according to the actual needs of storage environment.Different to 2D plane topology modeling,the 3D topology modeling has to be built considering the stereoscopic structure of the warehouse and the use of heterogeneous AGVs.Besides,the energy consumption rate(ECR)model is introduced to the analysis of the AGV scheduling system.On top of these,the particle swarm optimization(PSO)algorithm is applied to obtain the results of the allocated tasks and routes by taking the speed of the algorithm into consideration.In the end,the simulations and experiments have been conducted and the results demonstrate that the designed AGV scheduling system can guarantee the decline of energy consumption of AGVs and realize the automatic warehouse logistics.In this thesis,the main contributions are as follows:1.At first,the structure of the hardware and software are designed according to the demands of production,and the specific functions are analyzed and discussed.2.Different to 2D plane topology modeling,the 3D topology modeling has to be built considering the stereoscopic structure of the warehouse,and the AGV scheduling problem has been solved taking advantage of heterogeneous AGVs.3.In order to guarantee the decline of energy consumption of AGVs and realize the automatic warehouse logistic,this thesis has built the ECR model and applied it to the modeling of AGV scheduling system.In the end,the PSO algorithm is applied to solve this problem.