Multi-AGV Path Planning Method Based On Step Search And Application Research

With the upgrading of manufacturing industry to intelligent manufacturing,automatic guided vehicle(AGV)has become a new intelligent logistics equipment because of its high flexibility,good reorganization and strong system expansion,and plays an increasingly important role in various fields.In order to meet the increasingly complex and heavy production tasks,multi-AGV system came into being.The more AGVs running in the same area at the same time,the greater the possibility of path conflict.Therefore,it is very important to study effective path planning methods to solve the multi AGV path conflict for the current application and development of intelligent logistics.This paper takes an enterprise logistics diagnosis improvement project as the background,for the multi-AGV system path planning method to carry the research,to design a new multi AGV path planning method,and applied to the actual case.The main research contents are as follows:(1)Research background and status.This paper expounds the application environment and market development trend of AGV,describes the research status of AGV in the field of multi-vehicle path planning,and gives the research content and technical route of the paper.(2)Improvement of applicability of A* algorithm based on grid map.Starting from the research method of path planning in this paper,grid map is selected as the electronic map,and various algorithms are compared and analyzed.Finally,A* algorithm is selected as the single path planning algorithm for multi-AGV problems,and the applicability of A* algorithm is improved to make it more suitable for multi-path single planning of AGV.(3)Research on multi-AGV path planning method based on step-by-step search.On the basis of time window method and local AGV conflict detection,a multi-AGV path planning method based on step-by-step search is proposed in this paper.All types of conflicts encountered in step-by-step detection are identified and dealt with.Based on this method,a multi-AGV path planning program is compiled,and its feasibility is verified by experimental simulation.(4)Application examples.The intelligent logistics improvement scheme is designed for a project,and the multi-AGV path planning method based on step-by-step search is applied to the examples of logistics distribution.By comparing the route optimization before and after,it shows that the method is practical and has certain application value.