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

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...

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

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