Research On Multi-AGV Path Planning Algorithm For Intelligent Storage

With the development of intelligent storage along the direction of unmanned and intelligent,warehousing enterprises have put forward higher requirements for the safety and convenience of material handling in intelligent storage.Automated Guided Vehicle(AGV)is widely used in intelligent storage because of its high degree of automation and safety.As the core technology of AGV,path planning has a direct impact on the handling efficiency and safety of AGV.How to reasonably and efficiently plan the AGV handling path in intelligent storage and how to solve the conflict between multiple AGV paths have become the key problems to be solved in intelligent storage.This study takes AGV in intelligent storage environment as the research object,and the spatial environment modeling and path planning of the AGV in the intelligent storage are studied.A multi-AGV path planning algorithm based on time window is adopted to enable the AGV to complete the material handling task safely and efficiently.The main research contents are as follows:?.According to the characteristics of the actual intelligent storage space environment,this study analyzes the demand of multi-AGV path planning in the intelligent storage,designs the overall scheme of multi-AGV path planning in the intelligent storage,and selects the raster map method to model the actual intelligent storage space environment.?.Aiming at the problem that traditional A* algorithm has many traversal nodes and turn times in AGV path planning,an improved A* algorithm based on heuristic function is proposed.The weighted Manhattan distance was used as the heuristic function to make the estimated cost closer to the shortest distance,so as to reduce the number of nodes traversed by the algorithm.And the turning correction cost parameter was introduced into the heuristic function to reduce the number of turns.Through simulation analysis and comparison,it is verified that the improved A* algorithm is more efficient than the traditional A* algorithm in single AGV path planning.At the same time,the high efficiency of the improved A* algorithm in this paper is also verified on the storage environment maps of different scales.?.In view of the conflict between multi-AGV task assignment and multi-AGV path planning,the priority of task assignment and AGV priority rules are formulated.According to the path conflict types of multiple AGVs,the path planning algorithm combining A* algorithm and time window model and the multi-AGV path planning algorithm based on time window were adopted respectively,the two algorithms were simulated on the raster map model.Through simulation comparison and analysis,It is verified that the multi-AGV path planning algorithm based on time window in this paper is more efficient than the path planning algorithm combining A* algorithm and time window model in multi-AGV path planning.