AGV Path Planning And Research Of Automated Warehouse Based On Improved BAS Algorithm

With the continuous development of artificial intelligence technology,automated warehouse plays an increasingly important role in modern intelligent industrial manufacturing.Automated Guided Vehicle(AGV)is an important part of automated warehouse intelligence and automation.It has the advantages of stable transportation and accurate scheduling,and plays an important role in improving the efficiency of logistics transportation in Automated warehouse,saving the cost of goods transportation and improving the competitiveness of enterprises.The path planning technology of AGV is a necessary guarantee for safe and efficient transportation of goods.Therefore,this paper first introduces the basic theories and overall structure of AGV,and then deeply studies the environmental modeling,path planning and dynamic obstacle avoidance of AGV.Main research contents include:1.The overall structure and working principle of forklift type AGV are introduced,and the composition of AGV system is designed.Through analyzing the classification of AGV and the wheel structure of forklift body,the AGV system is modeled.The navigation positioning and path planning technology of AGV system is introduced to make preparation for the further study of AGV path planning.2.By comparing the advantages and disadvantages of various map modeling methods,raster method is adopted to establish the environment map model.On the basis of Beetle Antennae Search(BAS)algorithm,BAS algorithm was improved by increasing the number of beetles and step size coefficient.The improved BAS algorithm was applied to path planning for the first time.Matlab was used to compare the path planning of BAS algorithm with fixed step size,BAS algorithm with variable step size,variable step size BAS algorithm with multi-beetles and RRT algorithm.The results showed that the improved BAS algorithm could more effectively solve the AGV path planning problem in automated warehouse.3.Multi-AGV planning path scheme is designed for multi-AGV system.The conflict types of multi-AGV system are analyzed and multiple conflict mediation strategies are compared.Based on the actual situation,it is decided to use the priority-based dynamic obstacle avoidance strategy to complete the path planning of multi-AGV to ensure the coordinated operation of multi-AGV system.The results show that the priority-based dynamic obstacle avoidance strategy is a feasible method for multi-AGV path planning.The research of AGV path planning in this paper can provide reference for practical problems in automated warehouse.4.Modular design of AGV system is carried out from the aspects of upper computer system and on-board system.The software Visual Studio 2019 uses Visual C#language as the development language and SQL Server 2012 as the database to realize the software functions of the control system.By combining the software and hardware of AGV and testing the overall function of the system,the effectiveness and practicability of the improved BAS path planning algorithm are verified.