Reaserch And Application Of Mutil-AGV Path Planning In Storage Logistics

With the development of automation,intellectualization and information integration of industrial production,the contemporary society has put forward higher requirements for logistics system.Therefore,the design of automatic intelligent warehousing system suitable for multi-robots and the transformation from traditional factories to intelligent chemical factories have become a research hotspot.Automatic Guided Vehicle(AGV,Automatic Guided Vehicle)is a kind of mobile wheeled robot that can complete the specified transportation task after given path information and map information.In AGV scheduling,AGV path planning is an important part of the AGV scheduling system.Based on the AGV development,the path planning technology of AGV in warehousing logistics is studied emphatically,and the scheduling software system of AGV is realized.The main research contents are as follows:1.The method of global map environment modeling is studied.After analyzing several common methods of environment modeling,a simple and efficient raster map method is adopted.2.Based on the grid map model,AGV path planning technology is studied,including single AGV path planning technology and multi-AGV path planning technology.In the research of single AGV path planning,the common path planning algorithms are compared and analyzed.Finally,the A* algorithm with high efficiency is selected,and the A* algorithm is improved to optimize the memory occupation,calculation speed and path length.The improved A* algorithm is no longer extended by four or eight predefined nodes,but calculates the specific coordinates of the neighborhood on the edge of the grid through the evaluation function,and searches for the best node on the neighborhood to expand the path.3.On the basis of single AGV path planning,multi-AGV path planning technology is studied.Firstly,several types of conflicts in multi-AGV path planning are summarized.In order to solve these conflicts,an improved cooperative A* algorithm is proposed.The location information of each AGV is saved in three-dimensional space-time,and then the path planning of AGV is carried out in three-dimensional space-time,which effectively solves the problem of multi-AGV path planning.4.Based on the model and algorithm proposed above,how to develop an AGV scheduling system in a warehousing environment is studied.In order to meet the cross-platform requirements of dispatching system,a framework of multi-AGV dispatching system based on WEB is proposed.The user front end of the system uses Javascript technology to develop the visual interface,and the data processing back end uses Java language to process scheduling data.In the communication with AGV,based on Socket socket,a custom protocol is developed to ensure the reliability of communication with AGV.