Research On Multi-AGV Task Scheduling And Path Planning Algorithm Based On Intelligent Warehous

In recent years,China’s ecommerce industry has developed rapidly,which also puts forward higher requirements for the efficiency of logistics system.The logistics warehouse began to transform into an automated,information-based and digital intelligent warehouse,One of the characteristics of intelligent warehouse is the use of AGV(automated guided vehicle)instead of manpower to complete goods transportation,so the scheduling of AGV is the key to the efficiency of logistics transportation.This paper takes the AGV scheduling system in intelligent warehouse as the research point,focuses on the task scheduling and path planning of multi AGV in the scheduling system,and develops the AGV scheduling system.The main research contents of this paper are as follows:By analyzing the function of AGV dispatching system,the control mode and workflow of the dispatching system are designed.The characteristics of common map models are analyzed,the electronic map of warehouse environment is constructed,and the data storage structure of map is designed.Aiming at the task combination problem of multi AGV,firstly,a mathematical model is established,and the task combination problem is solved by improving particle swarm optimization algorithm.For particle swarm optimization algorithm,a nonlinear decreasing inertia weight is designed.At the same time,aiming at the shortcoming of it,that is,easily plunging into local minimum.The simulated annealing mechanism is introduced into particle swarm optimization algorithm,and the remove operator and insert operator are used to generate new solutions.The improved particle swarm optimization algorithm can obtain the optimal solution with lower path cost.For the task group distribution problem,a task group distribution scheme based on AGV status,power and driving mileage is designed to make the system achieve balanced distribution as much as possible.For the path planning of single AGV,an optimization strategy of A* algorithm is constructed to reduce the number of inflection points of the planned path.Aiming at the problem of path conflict in multi AGV path planning,an offline conflict resolution strategy based on dynamic priority is designed.Compared with the traditional priority method,the overall task completion time of this strategy is shorter.For dynamic conflicts,a conflict prediction and resolution strategy based on online monitoring is designed,so that the system can find and solve dynamic conflicts in time.The AGV scheduling software is developed.The software has the functions of task scheduling and path planning.The effectiveness of the software function is verified by testing the task execution process of single AGV and multi AGV.