Research On Path Planning And Scheduling System Based On Magnetic Navigation AGV

With the advent of the Industry 4.0 era,many industries have set off a wave of upgrades for intelligent handling.Because AGV(Automated Guided Vehicles)has the characteristics of high degree of automation and high flexibility,it is widely used in flexible manufacturing logistics systems.The AGV scheduling management system is the core part of the AGV system and has functions such as path planning,scheduling and management.This article is based on the latent magnetic navigation AGV developed in the laboratory,combined with path planning,scheduling strategy,time window algorithm and other theoretical research,research and development of AGV scheduling management system.This article first studies the modeling method of the electronic map.After analyzing and comparing each modeling method,it is determined to use the topology method to model the electronic map of the manufacturing workshop environment.Secondly,research on single AGV path planning algorithm and multi-AGV path planning algorithm.The core idea and algorithm execution flow of Dijkstra algorithm and A * algorithm in single AGV path planning are theoretically studied,and the two algorithms are analyzed and compared by randomly generating transportation tasks.Finally,Dijkstra algorithm is used for path planning.In terms of multi-AGV path planning,the core idea of the time window algorithm and the algorithm execution process are theoretically studied,and examples verify that the algorithm can determine whether there is conflict between AGVs according to the time window distribution when performing multi-AGV path planning.Then,in view of the possible node conflicts,confrontation conflicts,and pursuit conflicts that may occur in the multi-AGV scheduling process,the speed adjustment strategy and path adjustment strategy are studied.In addition,through the observation of experimental phenomena and data analysis,this paper proposes an improved Dijkstra algorithm,that is,the evaluation of the degree of use of the path,adding the occupancy value and weighted value,to prevent a certain path due to occupancy Too high to produce collision conflicts.After analyzing and comparing the advantages and disadvantages of the speed adjustment strategy and the path adjustment strategy,a composite adjustment strategy is proposed to prevent the drawbacks caused by the single adjustment strategy.Finally,based on the above theoretical research,the AGV scheduling management system was developed based on the C # WPF framework.The scheduling management system has functions such as management,path planning,and scheduling.In order to verify the function and stability of the AGV scheduling management system developed in this paper,Chapter 5 of this paper has conducted several groups on the basis of the latent magnetic navigation AGV developed in the laboratory,in the actual logistics environment of flexible logistics in the manufacturing workshop Random single-task singleAGV car transportation and multi-task multi-AGV car transportation experiments.The experimental results show that the AGV scheduling management system developed in this paper can handle node conflicts that occur during operation while performing single AGV and multi-AGV scheduling.Conflicts and chasing conflicts can ensure the normal operation of the system and meet project requirements.