Research And Implementation Of Key Technologies For Multiple AGV Dispatching And Simulation Systems

With the continuous development of manufacturing,e-commerce,logistics and other industries,intelligent unmanned workshop is the inevitable trend of the development of modern manufacturing enterprises.AGV(Automated Guided Vehicle)is widely used in intelligent unmanned workshop.Nowadays,single AGV scheduling system is far from meeting the development needs of enterprises,and the number of AGV in a scheduling and transportation system is increasing.Therefore,the design and implementation of multi-AGV oriented intelligent scheduling system is one of the focuses of current research.In this thesis,a scheduling system based on multi-AGV is designed and implemented in the environment of unmanned workshop,and the path planning method,scheduling algorithm and simulation module of multiple AGVs based on time window are studied.The main work of the thesis is as follows:1.Workshop map planning and design.Based on the research of scholars at home and abroad,this thesis presents the map design of unmanned workshop.First of all,several commonly used map modeling methods are considered.According to the characteristics of the unmanned workshop environment,the grid method is used to mark the grid and draw the global map.The storage method of map data refers to the topological method,which records the coordinates of key points and the serial numbers of key points around them,and the map data is stored in the txt file.2.Research on path planning based on time window.This thesis analyzes the common shortest path algorithms and focuses on the path planning method based on time window.The priority rules of machine task and AGV task execution are established.On the basis of path planning based on time window,the possible conflicts in the scheduling process are analyzed and handled and the relative real-time scheduling algorithm of multi-AGV system is carried out.3.Design and implementation of multi-AGV scheduling and simulation system.The structure of multi-AGV scheduling system is studied and the system structure design and scheduling algorithm design are given.On this basis,this thesis implements a multi-AGV scheduling and simulation system.The effectiveness of the scheduling and simulation system designed is verified by the simulation experiments.