Research On Run-time Simulation And Cluster Control System Of Multi-RGVs Based On Regional Autonomy

Medical RGV(Rail Guided Vehicle)is the carrier in Medical Rail Logistics System(MRLS).As the scale of modern hospital is getting bigger and bigger,single RGV system is hard to meet the requirement of medical goods transportation,Multi-RGVs system will get more widely used.On basis of the existing hardware platform of MRLS,cluster control and run-time simulation technology are researched in this paper by comparing the current research state of multi-AGVs(Automated Guided Vehicles).The main research results and creative achievements are as follows.(1)The architecture of multi-AGVs control system is summarized and the advantage and disadvantages of centralized system and distributed system are analyzed.Further,the architecture of multi-AGVs control system is established based on the regional autonomy control model.Then,a communication scheme combining ZigBee and Ethernet technology is proposed according to the architecture and the messages flow of the control system.(2)Aiming at the MRLS of big hospital,multi-RGVs run-time map model is created by means of graph theory.Based on that,regional autonomy map model is constructed by introducing edge knots and regional division.(3)By analyzing the task of logistics and the traditional centralized planning algorithm,a distributed two-stage dynamic route planning algorithm with additional heuristic strategy is proposed.Meanwhile,shortest-time based strategy for vehicles allocation and shortest-driving-distance based scheduling strategy for the assignment to spare vehicles are proposed,and the following simulation test proved the relatively high efficiency of the proposed algorithm and strategies.(4)By use of OSG(OpenSceneGraph),a kind of 3D rendering engine,multi-RGVs 3D run-time simulation platform is developed,and several software programs are developed including virtual central monitor system of multi-RGVs,regional controller,station controller and virtual simulated vehicle controller.Accordingly,a semi-physical simulation platform is built and used to test the designed cluster control system and the visualized monitoring to the MRLS is realized.The result of the semi-physical simulation test verified the proposed the technology methods.