Research On The Control Strategy Of Intelligent Warehousing Multi-AGV

With the rapid development of China's Internet technology and manufacturing industry,e-commerce industry is rising rapidly.In order to meet the needs of modern warehousing logistics with large volume of goods,many categories and short cycle,flexible manufacturing system and warehousing automatic transportation system are developing rapidly,which promotes the development of intelligent warehousing system to a great extent.At present,AGV(Automated Guided Vehicle)is widely used in warehousing operations,there are still technical problems in the scheduling and control of multiple AGVs.In the multi AGV operations,we often encounter congestion,deadlock,path conflict and other problems.Therefore,this paper takes the intelligent warehousing as the research object,and based on the online real-time monitoring scheduling mode,it advances the environment modeling of intelligent warehousing system,path planning and task scheduling of AGV In this paper,an efficient control strategy of multi AGV in intelligent warehouse is proposed.The main work of this paper is as follows:Aiming at the control strategy of multi AGV based on intelligent warehouse,firstly,in order to get the global optimal coordination scheme,the centralized control mode for multi AGV system is determined,the warehouse environment modeling method is studied and analyzed,and the problem that the environment map established by grid method can not fully adapt to the size of obstacles is solved Then,three single AGV path planning algorithms,Dijkstra algorithm,A-star algorithm and ant colony algorithm,are analyzed and compared.Aiming at the limitation that Dijkstra algorithm can not plan all the shortest paths between two points,variable length array is introduced to improve the algorithm,and the improved algorithm can search the grid Then,the task scheduling and conflict detection of multi AGV system are studied,the task scheduling index with distance and turn times as composite index is determined,the conflict conditions between multi AGVs are analyzed,the time window model and Dijkstra algorithm are fused,and an improved Dijkstra algorithm based on time window anti-collision is proposed Finally,the scheduling strategy of conflict free AGVs is analyzed and studied.Based on the traditional waiting strategy,the alternative path selection is introduced,and the time-consuming of waiting strategy and changing path strategy is comprehensively considered.The whole control strategy is simulated by MATLAB software,and the simulation results show that the optimized strategy can be effective The conflict free shortest task path of multi AGV system is planned effectively.In this paper,the multi AGV control strategy for intelligent warehouse is not only applicable to this field,but also can be applied to other multi AGV occasions.