Manufacturing Workshop AGV Path Planning Research With Scheduling System

With the continuous development of the modern information technology industry,more and more manufacturing enterprises have entered the stage of intelligent production.At the same time,more and more large manufacturing enterprises are beginning to develop intelligent robots to replace traditional human production models.As an intelligent robot,Automated Guided Vehicle(AGV)has the characteristics of autonomous navigation,automatic loading,and flexible application,and is widely used in industries such as manufacturing,logistics,medical,and aviation.In recent years,path planning and scheduling problems have attracted much attention in the field of AGV applications.Studying path planning and scheduling strategies has important practical significance in promoting the development of AGV technology.The research content of this article is as follows:(1)Research on single AGV path planning algorithm,mainly focusing on the A-star global path planning algorithm and the Artificial Potential Field(APF)local path planning algorithm.We have conducted theoretical research,analyzed the advantages and disadvantages of the A-star algorithm and APF algorithm,and made corresponding improvements to the shortcomings of these two algorithms.In order to achieve the optimal path in both global and local path planning for a single AGV,the A-star algorithm and APF algorithm are fused into the AAPF algorithm.The AAPF algorithm inherits the global path planning method of A-star algorithm and incorporates the local path planning method of APF algorithm.At the same time,the improvement ideas of A-star algorithm and APF algorithm are unified.Finally,the superiority and feasibility of AAPF algorithm are verified through MATLAB simulation experiments.(2)Introduce the types of conflicts,conflict handling strategies,and conflict prevention strategies in multi AGV path planning.In response to conflicts in multi AGV path planning,this article adopts two conflict handling measures to solve the problem of multi AGV conflicts.The method of time window is used to carry out Quadratic programming for the path of AGV,so that each AGV can stagger the time of occupying the road section to avoid conflicts;Adopting a node locking strategy,when an AGV enters an intersection node,the node will be automatically locked and other AGVs will be prohibited from entering.This strategy is used to solve the problem of unstable AGV operation speed leading to the failure of time window planning.(3)Research on multi AGV task scheduling strategies,including AGV task scheduling principles and AGV task distribution and reception strategies,and propose a scheduling optimization strategy that integrates time windows and genetic algorithms for optimizing task allocation and path planning in multi AGV scheduling systems.