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Dynamic obstacle real-time obstacle avoidance method and system for multi-AGV system

A technology of system dynamics and obstacles, applied in the field of multi-AGV systems, can solve problems such as collisions and affecting the normal driving of AGVs, and achieve the effect of low algorithm complexity

Inactive Publication Date: 2019-09-10
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
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  • Application Information

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Problems solved by technology

[0003] In order to solve the technical problems raised by the above-mentioned background technology, the object of the present invention is to solve the problems that when the AGV has static or dynamic obstacles on its planned route during operation, the obstacles will affect the normal driving of the AGV or even cause collisions, etc. In the case of obstacles, real-time update the path to avoid obstacles and then drive normally, and finally reach the target point, a multi-AGV system dynamic obstacle avoidance method in real time

Method used

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  • Dynamic obstacle real-time obstacle avoidance method and system for multi-AGV system

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Embodiment 1

[0038] A real-time obstacle avoidance method for dynamic obstacles in a multi-AGV system. The method is based on a path planning algorithm. During the driving process of the AGV, through the method of obstacle matrix, the sensor is used to detect in real time whether there is an obstacle within the detection radius at the current position. If If there is an obstacle, the AGV will move to the closest point to the target point until the AGV moves to the target point.

[0039] Further, the method specifically includes the following steps:

[0040] Step 1, determine the target point of the handling task, and apply the path planning algorithm to generate the pre-driving path;

[0041] Step 2, the AGV moves according to the pre-travel path;

[0042] Step 3, determine whether the destination is reached, if yes, end the path planning, otherwise go to step 4;

[0043] Step 4, using a sensor, establishing an obstacle detection matrix S based on the sensor detection radius, and judging...

Embodiment 2

[0068] The present invention also provides a real-time obstacle avoidance system for dynamic obstacles in a multi-AGV system. The obstacle avoidance system includes a path planning algorithm module, a sensor detection module, and an obstacle avoidance algorithm module; The driving path of the point, the sensor detection module is used to detect the position of the obstacle in real time, and the obstacle avoidance algorithm module forms a driving path to avoid the obstacle based on the cost function when there is an obstacle in the detection area.

[0069] Further, the sensor detection module takes the AGV as the center of the circle, and the detection radius of the sensor is the detection area formed by the circle of the radius, and divides the detection area into several sectors equally; each sector is sequentially marked as S i , its value is 0 or 1, 0 means that no obstacle is detected in the current sector, 1 means that an obstacle is detected, then there is an obstacle dis...

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Abstract

The invention provides a dynamic obstacle real-time obstacle avoidance method and a dynamic obstacle real-time obstacle avoidance system for a multi-AGV (Automatic Guided Vehicle) system. The dynamicobstacle real-time obstacle avoidance method is characterized in that: based on a route planning algorithm, in a running process of an AGV, a sensor is adopted to detect whether there is an obstacle in a detection radius of a current position in real time through an obstacle matrix method, if there is the obstacle, the AGV moves to a position point closest to a target point until the AGV moves tothe target point. The dynamic obstacle real-time obstacle avoidance method of the invention aims at the problems that when there are static or dynamic obstacles on a planned route of the AGV in the running process, the obstacles can influence the normal running of the AGV and even cause collision and the like, and the dynamic obstacle real-time obstacle avoidance method can update the route in real time under the condition that there are the obstacles, so as to enable the AGV to avoid the obstacles and normally run.

Description

technical field [0001] The invention relates to a multi-AGV system, in particular to a real-time obstacle avoidance method and an obstacle avoidance system for dynamic obstacles in a multi-AGV system. Background technique [0002] Nowadays, with the rapid development of modern industry, AGV systems applied to intelligent logistics have been widely used in flexible production lines and warehousing logistics. Since AGV can adjust the transportation plan according to system instructions and increase system flexibility, using AGV as a transportation carrier can ensure transportation efficiency and reduce costs. In the digital workshop, there are various types of products, strict production rhythms, and complex logistics requirements. AGVs in complex environments will inevitably encounter static and dynamic obstacles during operation, which seriously affects transportation efficiency. AGV is more stable, efficient and safe to operate, and it is necessary to design an efficient o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0238
Inventor 钱晓明楼佩煌张硕
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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