Multi-AGV path planning method and device

A path planning and path technology, applied in the computer field, can solve problems such as large amount of calculation, inapplicable road model, and complicated method, so as to improve the saturation value of AGV, improve the sorting efficiency and the peak sorting capacity of the site, and reduce the turning point The effect of times

Active Publication Date: 2019-06-04
EAST CHINA NORMAL UNIV
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AI Technical Summary

Problems solved by technology

Existing methods are all smoothing after planning out the path, and the method is more complicated and requires a lot of calculation
The most important thing is that the above methods are only applicable to the situation where the mobile robot can walk obliquely or in a free direction, and are not suitable for regular road models with strong direction constraints.

Method used

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  • Multi-AGV path planning method and device
  • Multi-AGV path planning method and device
  • Multi-AGV path planning method and device

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Embodiment Construction

[0074] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0075] In a typical configuration of the present application, the terminal, the device serving the network and the trusted party all include one or more processors (CPUs), input / output interfaces, network interfaces and memory.

[0076] Memory may include non-permanent storage in computer-readable media, in the form of random access memory (RAM) and / or nonvolatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer readable media.

[0077] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static rand...

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Abstract

The invention aims at providing a multi-AGV path planning method and device. The invention focuses on a sorting peak value and sorting efficiency optimization of a large-scale AGV express delivery sorting system. Based on a traditional A* path planning algorithm, a path search algorithm with automatic smoothing is obtained through improvement. In the improved algorithm, turning time is mapped to ahorizontal distance, AGV turning time is fully considered, the number of turns of a route is reduced, a peak value sorting amount and sorting efficiency of a site are increased, and the effectivenessof the algorithm is verified. Improvement is performed based on the improved A* algorithm, a congestion degree is introduced to solve a congestion problem, congestion can be effectively avoided to acertain extent, an AGV saturation value of the site is increased, and the sorting peak value of the site is improved so that the site can be fully used. Aiming at path planning of a large-scale AGV inthe express delivery sorting system, the sorting efficiency of a system and a peak sorting amount of the site can be increased.

Description

technical field [0001] The invention relates to the field of computers, in particular to a multi-AGV path planning and equipment. Background technique [0002] With the rapid development of e-commerce logistics industry, the scale of e-commerce is getting bigger and bigger. Traditional manual sorting can no longer meet the requirements. Although the automatic sorting system relying on conveyor belts and other transmission equipment has high sorting efficiency, it occupies a large area and has high one-time investment costs. It is only suitable for large-scale sorting centers. It cannot be changed, the flexibility and flexibility are poor, and the energy consumption is high. The automatic guided vehicle (AGV) has high flexibility and low energy consumption, which can well adapt to the characteristics of modern logistics "multiple varieties, small batches, and relative concentration". Therefore, the research on the express sorting system based on AGV has important practical ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 吕淑静屠晓吕岳贺学成
Owner EAST CHINA NORMAL UNIV
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