Research On Path Planning And Scheduling Control Strategy Of The Multi-AGV System

Automatic Guided Vehicle(AGV),as a new type of intelligent mobile robot,is widely used in warehousing,intelligent workshop,dangerous places and special operations because of its high degree of automation,flexibility,strong anti-interference ability and good security.In order to make AGV play its advantages better,it is important to improve its key technologies.Among them,task assignment is the premise for multi AGV system to complete tasks,because before AGV completes tasks,it is necessary to know which task it needs to perform;path planning is the basis for multi AGV system to complete tasks,because AGV must find a better path between the current location and task point;solving the path conflict problem is the guarantee for multi AGV system to complete the task,because only by successfully avoiding the path resource conflict problem between AGVs,can multi AGV system complete the task more efficiently and safely.Therefore,this paper chose the above problems to optimize and solve.Firstly,aiming at the task allocation problem of multi AGV system,this paper constructs a linear programming model of task allocation of AGV according to the characteristics of task allocation of AGV,then introduces "analytic hierarchy process" to determine the weight of each index,so that the coefficients of the model are more scientific,and finally uses particle swarm optimization algorithm to solve the optimization problem.The simulation results show that the method is suitable for different application occasions different task assignment results can be obtained.It means that the introduction of "analytic hierarchy process" can make task allocation more targeted.Secondly,in the process of path planning,aiming at the problem of low efficiency of traditional grid modeling algorithm due to too many grids,this paper proposes a grid modeling method of feature point extraction,which uses the idea of feature extraction to extract the vertices of obstacle grids as feature points,and carries out path planning between these feature points to reduce the planning scope of the algorithm.Then,it is applied to the ant colony algorithm,and the convergence of the algorithm is proved.The simulation results show that the path planning method proposed in this paper can get a smoother and shorter path.It means that the improved grid modeling can be well applied in path planning algorithm,and improve the calculation efficiency of the algorithm.Finally,aiming at the scheduling control strategy of multi AGV running,using time window to solve the problem,firstly,extract the path of each AGV,then judge the conflict area between the paths,build the time window,then arrange the time window by setting the priority of AGV,determine the order of resource occupation,so as to avoid the collision of AGV.The simulation results show that this method can achieve the scheduling control between AGVs and effectively avoid the collision between AGVs.It means that this method can make the running of AGV more secure and reliable,and thus complete the scheduling control problem.