Modeling And Simulation Of CTU Path Planning In Automated Warehouse

With the rapid development of the global economy,the application of information technology and innovation has become an important driving force in today’s society,the traditional production model is gradually transforming,and the logistics industry is developing more and more rapidly.In automated warehouse logistics systems,improving the operational efficiency of mobile robots is an important path to reduce enterprise costs,and Path Planning is a key research component to improve the efficiency of mobile robots.Therefore,based on domestic and foreign research,this thesis studies the path planning of the bin robot from the enterprise demand,so as to improve the efficiency of the bin robot and achieve the purpose of cost reduction for the enterprise.The main research work is as follows:First of all,through the research of L company,we found that the warehouse has the problems of low space utilization,low operation efficiency and low management level,etc.In response to these problems,we made the following two plans for the warehouse,the first point is to introduce the bin robot to improve the space utilization and management level and reduce the cost of the enterprise;the second point is to plan the path of the bin robot to improve the operation efficiency of the warehouse.Translated with www.Deep L.com/Translator(free version)For the problem of map modeling methods and algorithm selection in path planning,this thesis analyzes the common environment modeling methods and path planning algorithms,and puts forward the environment modeling methods and path planning algorithms selected in this thesis.Secondly,for the static path planning of the bin robot,the mathematical model of the bin robot path planning with the shortest total handling distance as the index is constructed,and the automatic warehouse environment model is built based on the grid method.Considering the influence of the long turning time of the bin robot,the turning penalty coefficient of the bin robot is introduced into the fitness function of the particle swarm optimization.Considering that there may be dynamic obstacles in CTU working environment,a fusion algorithm based on improved particle swarm optimization and dynamic window approach is implemented,which addresses the issues that local path planning is prone to local optimization and local path planning is unable to escape dynamic obstacles.In order to verify the feasibility of the improved particle swarm optimization and the fusion algorithm,the simulation experiments of static path planning and dynamic path planning is conducted by building a simulation experiment scenario through MATLAB software to prove the feasibility of the improved particle swarm optimization and the fusion algorithm.Finally,combined with digital twinning technology,the digital twinning framework of automated warehouse is constructed,and its workflow is elaborated.Use Flexsim simulation software to build a simulation model,design the simulation entity process,and simulate and compare the inbound and outbound operations of the planned CTU path before the improvement with the outbound and inbound operations of the planned CTU path after the improvement.Through the simulation experimental research,it is verified that the efficiency of inbound and outbound operations of the warehouse has been improved.Through the planning and design of the warehouse of L company,the results show that the bin robot path planning scheme proposed in this thesis is feasible and effective.It meets the three requirements of L company to improve the efficiency of warehousing,improve the utilization of space and improve the management level.It improves the production efficiency of L Company,and the research method in this thesis has certain value in the logistics industry.