Multi-AGV real-time scheduling algorithm based on unidirectional track

A real-time scheduling and orbital technology, applied in control/regulation systems, two-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve problems such as high space complexity, easy deadlock and paralysis, and reduce Possibility of paralysis, increased productivity, easy-to-achieve effects

Inactive Publication Date: 2019-04-19
XIAMEN UNIV TAN KAH KEE COLLEGE
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Problems solved by technology

[0004] In view of the existing problems, it is necessary to study how to overcome the high time complexity, high space complexity and easy deadlock paralysis of the existing multi-AGV real-time online scheduling algorithm, so as to provide a better solution for the transportation problem of the logistics warehouse

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  • Multi-AGV real-time scheduling algorithm based on unidirectional track
  • Multi-AGV real-time scheduling algorithm based on unidirectional track
  • Multi-AGV real-time scheduling algorithm based on unidirectional track

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Embodiment Construction

[0034] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0035] Such as figure 1 As shown, the present embodiment provides a multi-AGV real-time scheduling algorithm based on one-way track, comprising the following steps:

[0036] Step S1: use graph theory to mathematically model the operating environment of multiple AGVs;

[0037] Step S2: Initialize the AGV trolley list, map and station list respectively;

[0038] Step S3: traverse each AGV in step S2;

[0039] Step S4: Determine whether the AGV task queue is empty, and if the AGV task queue is not empty through the scheduling system detection, then perform step S5; if the AGV task queue is empty, continue to judge whether the task buffer queue is empty; if the task buffer queue is Empty, then return to step S3, if the task buffer queue is not empty, then apply the shortest path search to obtain the shortest path R, and at the same time, the station P th...

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Abstract

The invention relates to a multi-AGV real-time scheduling algorithm based on a unidirectional track. The multi-AGV real-time scheduling algorithm comprises the steps of performing mathematical modeling on a multi-AGV operation environment by means of a graph theory; respectively initializing an AGV trolley list, a map and a station list; performing traversal of each AGV; determining whether an AGVtask queue is empty, distributing to a vehicle which is represented by an AGV task queue head node according to a determining result, and updating the idle queue; acquiring a task queue head element,finding a corresponding station list ListK according to a station value; finally, determining whether the stations which correspond with the head element and a second element are in an idle state; determining whether to execute the scheduling task according to a result, using and locking the stations which correspond with the head element and the second element in the idle state, scheduling the corresponding station, and when the AGV operates to the station which corresponds with the second element, unlocking the station which corresponds with the head element, and updating the AGV task list.The multi-AGV real-time scheduling algorithm settles problems of conflict and deadlock in a multi-AGV scheduling process and ensures reasonable operation of multiple AGVs in an operation process.

Description

technical field [0001] The invention relates to the technical field of computer system and algorithm design, in particular to a multi-AGV real-time scheduling algorithm based on a one-way track. Background technique [0002] In the prior art, in the use of automatic guided vehicle AGV (Automated Guided Vehicle) logistics warehouse, especially in the case of using multiple AGVs, AGV vehicles will inevitably cause collisions and collisions of AGVs during the process of moving goods. deadlock. AGV collisions and deadlocks will directly lead to the paralysis of the logistics warehouse system. Therefore, it is an important field of AGV research to study the avoidance of collision and deadlock in the process of multi-AGV scheduling. [0003] For the scheduling algorithm, it can be divided into two-way track scheduling algorithm and one-way track scheduling algorithm. For two-way track scheduling, the system schedules tasks for AGV cars in an environment where the track can supp...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0276G05D1/0291
Inventor 郭一晶范仲谋高凤强陈炳飞蓝康伟武泽源左栩林明哲黄斯奇
Owner XIAMEN UNIV TAN KAH KEE COLLEGE
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