Cooperative Control And Path Planning Of AGV Formation Considering Obstacle Avoidance

In recent years,the continuous improvement of domestic surgical technology has promoted the improvement of industrial production capacity,making the field related to artificial intelligence increasingly become one of the hottest research objects.Automatic guided vehicle(AGV)is a multifunctional,multi scene and multi-purpose intelligent mobile robot based on artificial intelligence related technology.For example,AGV can replace enterprise workers to complete high-risk handling tasks,and help medical staff transport infected medical wastes.The path planning ability and obstacle avoidance ability of AGV are the key technologies to ensure its stable operation.In addition,in some complex conditions,the ability of single AGV to perform tasks is not enough to meet the needs of the whole handling task,so multiple AGV formations are required to cooperate to complete more complex handling tasks.In this paper,a multi AGV formation cooperative control and hybrid path planning method will be designed to make the AGV formation move according to the optimal path and effectively avoid obstacles in the static or moving state.The main research work of this paper is as follows:(1)Aiming at the global path planning problem of single AGV,the working environment of AGV is modeled based on the geometric map model mapping method,and the improved particle swarm optimization algorithm is proposed and applied to the global path planning of single AGV.The simulation comparison experiment is designed to verify the superiority and effectiveness of the improved particle swarm optimization algorithm proposed in this paper.(2)Aiming at the problem of single AGV local path planning,an improved artificial potential field algorithm with simulated annealing algorithm is proposed.In addition,applied to single AGV local path planning.Simulation comparison experiments are designed to verify the superiority and feasibility of the improved artificial potential field method proposed in this paper.(3)Aiming at the problem of multi AGV formation cooperative control and local path planning,based on the improved artificial potential field method.Moreover,pilot following method,the AGV formation control strategy,AGV obstacle avoidance method and collision avoidance method between AGVs are designed,and simulation experiments are designed to verify the effectiveness of the AGV formation cooperative control method proposed in this paper.(4)The hybrid path planning method of AGV formation based on improved particle swarm optimization algorithm and improved artificial potential field method is designed,which can effectively avoid obstacles in the process and maintain a certain formation when the whole AGV formation travels according to the moving path obtained based on the path planning algorithm in this paper.Finally,the simulation experiment is designed,The effectiveness of the AGV formation hybrid path planning algorithm proposed in this paper is verified.