Study Of Multi-AGV Scheduling For Smart Logistics In DSG Gearbox Assembly Workshop

In order to solve problems like low production efficiency,high cost and low flexibility in a traditional DSG gearbox assembly workshop where traditional logistics has been adopted,automatic guided vehicles(AGV)are chosen to realize smart logistics and eventually smart production in the workshop.The introduction of AGVs can greatly improve the production efficiency and production flexibility.Accordingly,the application of AGVs means the study concerning mathematical modeling for the workshop and path,path planning and scheduling for multi AGVs and the corresponding optimization is very important.The research approaches here are: taking the production requirements and the layout of the workshop,the map of the workshop and mathematical models are made at first;then models for AGV’s path planning and scheduling are proposed based on the map of the workshop;finally,the feasibility of the path planning model and scheduling model proposed in this study is verified by experiments.The main works are described as below:Smart path planning and multi-AGV scheduling is related to the production and the layout in the workshop.In this study the workshop scenes are constructed.Scene construction consists of the topological model of the workshop map,AGV selection and the adoption of key technology like the navigation method.Considering the influence of the real-time position and attitude of AGV in the logistic efficiency,navigation method based on 2D barcode is used and the feasibility and accuracy of this method is experimentally verified for the 2D barcode recognition and the calculation of rotation angle.Approaches to AGV’s smart path planning in DSG gearbox assembly workshop include those for single AGV and multi AGVs.For the case of single AGV,the mathematical model is made by the transformation of physical model of the workshop map using adjacency matrix representation first.Then Floyd multi-source algorithm and genetic algorithm are used to obtain the single AGV path planning in the workshop.For the purpose of the improvement of calculation efficiency,various heuristic algorithms are introduced and combined with genetic algorithm to find the optimized and improved algorithm for path planning through the comparison of experimental tests for different algorithms.For the case of multi-AGV,the regulations are determined based on the requirements of actual working scenarios and then the possible conflict types of AGVs are defined.In order to build the mathematical model for conflicts,rules and schemes are set for the determination of priority levels of conflict types and the solution of possible conflicts.Finally,the path planning for multi AGVs can be obtained using the optimized genetic algorithm.In order to realize smart multi-AGV scheduling in the in workshop,classic genetic algorithm is adopted to build the scheduling model in this study since the production processes are relatively fixed in the workshop.In addition,the feasibility of the path planning model and scheduling model proposed in this study is verified by experiments.