AGV Path Planning And Optimization Scheduling Research

AGV(Automated Guided Vehicle)belongs to a branch of the mobile robot.AGV is a selfcontained power supply that relies on certain types of guided vehicles to drive certain unmanned transport equipment to perform certain tasks.With the rapid development of ecommerce,more and more goods will be transported by express mail,which brings new challenges to courier companies for sorting a large number of parcels.Traditional manual sorting cannot meet the increasing sorting capacity requirements,so the use of multiAGVs for automatic sorting is of concern.However,with the increasing number of AGVs in the same system,the conflict between AGVs and AGVs,resulting in the problem of inefficiency is becoming more and more obvious,Therefore,if we can find a better path planning method and a better scheduling algorithm to solve such problems become very meaningful.The main work and achievements are as follows:(1)Based on such a model of matrix warehouse,combined with A* algorithm and time window algorithm,we designed a multiAGVs path planning algorithm suitable for this warehouse.Using this algorithm can effectively improving the efficiency of path planning.(2)Based on the characteristics of logistics warehouse,we use the grid modeling method and designed a two-lane map model for the warehouse,also we designed a special AGV car running rules(east to west left,north to south right),with such a running rule to reduce the probability of AGV congestion at nodes.Of course a time term is introduced to predict the congestion nodes in the warehouse model.(3)For such a warehouse model as this article,there is no specific scheduling algorithm applicable to this warehouse.So we proposed an AGV scheduling algorithm suitable for this warehouse.Using the scheduling algorithm it can shorten the return distance of the trolley,at the same time,it can make the number of parcels issued by each parcel point roughly equal,balance the pressure of each parcel delivery point,and improve the sorting efficiency.(4)Based on the new path planning method and new scheduling algorithm we designed a multiAGVs simulation software.The simulation results proves the effectiveness of the algorithm.