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Multi-AGV-guiding and dynamic path planning method

A dynamic path and path planning technology, applied in navigation, surveying and navigation, road network navigator and other directions, can solve the problem of expensive navigation circuits, and achieve the effects of low cost, improved work efficiency and low complexity

Active Publication Date: 2017-04-26
济南佰意兴网络科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] In the same area, it is a difficult problem to realize the coordinated and efficient work of multiple AGVs (Automated Guided Vehicles). There are two main difficulties: one is the guidance problem, and what needs to be solved is how to ensure that the AGVs travel according to the predetermined route
The second is the problem of dynamic path planning. Because of the movement of other AGVs, each AGV is in a dynamic environment.
[0005] Navigation circuits are expensive to install

Method used

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Embodiment 1

[0050] A method for multi-AGV guidance and dynamic path planning, comprising the following four steps:

[0051] Part 1: Node and line division of the motion area

[0052]In order to realize the path planning and scheduling of AGV, this program first plans the location of the label nodes in the target area of ​​AGV movement, and then connects the label points to form a line for AGV movement, and finally the grid composed of these lines and label nodes The grid pattern is the movement area of ​​the AGV. When the AGV is in motion, it must follow the route, and it is not allowed to stop or turn in the middle of the route. When it is necessary to stop or turn, it must move to a certain node before execution.

[0053] Part 2: AGV guidance scheme design

[0054] In order for the AGV to move accurately on the planned route, this solution adopts a combination of inertial navigation technology, image recognition technology and radio frequency identification technology. The AGV guida...

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Abstract

The invention discloses a multi-AGV-guiding and dynamic path planning method. The multi-AGV-guiding and dynamic path planning method comprises the following four steps: step one, division of nodes and lines of a movement region; step two, design of an AGV-guiding scheme; step three, design of a competitive mode of motion nodes of AGV; and step four, path planning of the AGV. The invention aims to provide a scheme capable of realizing multi-AGV motion line guiding and dynamic path planning to guarantee that a plurality of AGVs moving in the same region can effectively arrive at target locations, and are prevented from colliding with other AGVs.

Description

technical field [0001] The invention relates to AGV guidance and dynamic path planning, in particular to a multi-AGV guidance and dynamic path planning method. Background technique [0002] In the same area, it is a difficult problem to realize the coordinated and efficient work of multiple AGVs (Automated Guided Vehicles). There are two main difficulties: one is the guidance problem, and what needs to be solved is how to ensure that the AGVs travel according to the predetermined route. The second is the problem of dynamic path planning. Because of the movement of other AGVs, each AGV is in a dynamic environment. If the method of centralized planning is adopted, the complexity will increase significantly as the number of AGVs increases. If the AGV decides the optimal path of the distributed planning method, it is difficult to avoid the path conflict of multiple intelligent AGVs, thereby greatly increasing the probability of AGV parking avoidance and reducing the efficiency ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/343G01C21/3446
Inventor 刘鑫赵晋洪武发鲁张岩
Owner 济南佰意兴网络科技有限公司
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