Optimization Of Multi-AGV Scheduling System Based On Dynamic Map

With the advancement of industrial 4.0 and the rapid development of flexible automation,AGV(Automated Guided Vehicle)has begun to enter our vision and plays an important role in intelligent chemical plants.Because AGV has good flexibility,high automation,high intelligence level,low labor cost,flexible change of traveling path according to the requirements of storage location and production process,and the cost of changing operation path is lower than that of traditional conveyor belt and rigid conveyor line,the research of AGV application has been widely studied.People pay attention to it.The focus of AGV application research is AGV scheduling system.This paper mainly optimizes AGV scheduling system from two aspects of path planning and task allocation.The research contents are as follows:(1)Analyzing the current situation of AGV dispatching system at home and abroad,designing AGV dispatching system according to functional requirements and performance requirements,determining its map building method,path assignment algorithm,task assignment strategy and communication scheme,and building mathematical model by considering several indicators such as path length,waiting time,AGV utilization efficiency and so on.Type.(2)The concept of dynamic map is proposed,which generates temporary stops when conflicts occur,and adopts the strategy of one-way and two-way Hybrid Map for the direction of the topological map.Under the allowable conditions of practical application scenarios,the crossroads are transformed into Y-intersections.(3)Mixed priority algorithm is used to assign tasks,and task set is defined as dynamic priority.According to the waiting time and initial priority of tasks,priority is allocated through the algorithm to improve task satisfaction.There are various constraints in path planning,and there is a certain probability of failure.In order to ensure the success rate of scheduling,this paper proposes a rescheduling strategy fortasks that fail to be allocated.In order to ensure the balanced utilization of AGV in task allocation,a random scheduling strategy is adopted for AGV.According to the designed AGV scheduling system scheme,optimized path planning and task allocation strategy and algorithm,the effectiveness of the AGV scheduling system scheme is verified in MATLAB environment,and the performance of the system is evaluated by using evaluation function.The results show that the design achieves the desired goal.At the same time,the optimization strategy proposed in this paper is compared with the traditional strategy.The experimental data obtained under the MATLAB environment show that the dynamic map strategy can reduce the waiting time of conflict by half.The hybrid direction map strategy and Y-intersection strategy can also effectively reduce the number of conflicts.The hybrid priority strategy and the rescheduling strategy make the system more efficient.Effective task satisfaction and scheduling success rate.