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Interference-prevention-based multi-automatic-guided-vehicle path planning method for logistics storage system

A storage system and path planning technology, applied in logistics, forecasting, instruments, etc., can solve problems such as the expansion of interference space, the difficulty in achieving design goals in operation efficiency and safety, and the impact on operation planning and safety.

Inactive Publication Date: 2016-09-14
SHANGHAI MARITIME UNIVERSITY
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  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

As time goes by, delays, collisions, and self-locking will evolve into queuing and even congestion; congestion will increase the probability of collisions, resulting in the expansion of the interference space, aggravating the degree of interference, and affecting subsequent operation plans and safety
Coupled with the reduction of human intelligent decision-making, the current logistics storage system multi-AGV shortest path planning highlights the difficulty of achieving design goals in terms of operational efficiency and safety caused by interference

Method used

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  • Interference-prevention-based multi-automatic-guided-vehicle path planning method for logistics storage system

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Embodiment Construction

[0142] The flow chart and preferred embodiments of the present invention are given below in conjunction with the accompanying drawings to further illustrate the technical solution of the present invention.

[0143] Such as figure 1 As shown, the path planning method of multiple automatic guided vehicles is implemented by the induced ant colony-particle swarm fusion algorithm, and the interference prevention of the logistics storage system is realized. The induced ant colony algorithm optimizes the path and the particle swarm optimization algorithm optimizes the waiting time before nodes. These two optimization calculations have no order. They are intertwined and include the following steps:

[0144] Step 1: Ant population initialization settings;

[0145] For each AGV, set M ants. For AGVs p , the first node of the initial path of each ant is S p , others are {A 1 ,A 2 ,...,A N} (remove S p ) is a sequence generated by random shuffling. Here, the pheromone setting of...

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Abstract

The invention relates to an interference-prevention-based multi-automatic-guided-vehicle (AVG) path planning method for a logistics storage system. On the basis of analyses of arrival and departure times of multiple AGVs at and from all road sections and nodes in a logistics storage system, driving overlapping frequencies of the AGVs on the road sections and nodes are calculated. With combination of an interference threshold value, a multi-AGV shortest path planning model with an interference prevention constraint is established by using multi-AGV operation time as a target. With a frame of an ant colony algorithm, an interference-prevention-based multi-automatic-guided-vehicle path planning method with inducing ant colony and particle swarm fusion for a logistics storage system is designed by keeping a pheromone factor is kept, removing a visibility factor, and adding a A <*> factor and an inducing factor. Road features of typical logistics storage systems like a dock, a warehouse, a distribution center, a container station and various storage yards are combined and a multi-automatic-guided-vehicle path planning method is provided. Therefore, the interference can be avoided effectively; the AGVs can arrive at destinations according to respective shortest paths; and thus the working efficiency and security of the logistics storage system can be improved.

Description

technical field [0001] The invention relates to a path planning method, in particular to a multi-automatic guided vehicle path planning method for preventing interference in a logistics storage system. Background technique [0002] In typical logistics storage systems such as docks, warehouses, distribution centers, container yards, factory workshops, and various storage yards, automated machinery is used more and more. Among them, AGV is currently widely used horizontal transportation equipment, responsible for moving goods / containers from one place to another. Compared with traditional horizontal transportation methods (such as collection trucks), AGV has advantages in automation and intelligent upgrades, and greatly saves human resource costs, effectively solving the internal combustion engine exhaust emissions and noise pollution caused by collection trucks. [0003] Single AGV path planning is a shortest path problem. In actual situations, multiple AGVs are often trav...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06Q10/04G06Q10/08G06Q50/28
CPCG06Q10/047G06Q10/08355G06Q10/08
Inventor 李军军许波桅杨勇生
Owner SHANGHAI MARITIME UNIVERSITY
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