Distributed multi-AGV dynamic task allocation and path planning method and system

A path planning and dynamic task technology, applied in the direction of electric/hybrid power, comprehensive factory control, instruments, etc., can solve the problems of low efficiency, large calculation amount of path planning, etc., and achieve the goal of improving efficiency, reducing communication traffic, and improving operating efficiency Effect

Active Publication Date: 2019-09-20
NANJING UNIV OF POSTS & TELECOMM
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a method and system for distributed multi-AGV dynamic task assignment an

Method used

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  • Distributed multi-AGV dynamic task allocation and path planning method and system
  • Distributed multi-AGV dynamic task allocation and path planning method and system
  • Distributed multi-AGV dynamic task allocation and path planning method and system

Examples

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Embodiment 1 Embodiment example

[0061] In this embodiment, a distributed multi-AGV system is constructed based on the application background of multi-AGV in the storage environment. The system mainly includes a host task management host and multiple isomorphic AGVs. The overall structure of the system is as follows figure 1 shown.

[0062] The upper task management host is responsible for task management and distribution. The upper task management host system that realizes this function mainly includes a task information management module, a bidding task assignment module and a host wireless communication module. The functions of each module are as follows:

[0063] (1) The function of the task information management module is to receive and dynamically manage the task order information sent by the dispatch center. Specifically: the received tasks are stored in the task list AllTaskList to be assigned (AllTaskList is a global variable in the upper task management host, which can be dynamically added or del...

Embodiment 2

[0103] Embodiment 2 Simulation experiment analysis

[0104] In order to test the performance of the method proposed in Example 1, in Figure 4 The simulation test is carried out on the warehouse map shown, in which the dark grid represents the shelf, and the light grid represents the feasible area of ​​the AGV. The task refers to moving the goods from one storage location to another. In each simulation, a series of task sets are randomly generated first, each task set contains many tasks (dynamic reception), and the start and end positions of each task are the positions that the AGV can reach without repetition. The AGV starts from its parking position (the lower left grid of the map), performs all tasks one by one, and finally returns to the parking position (the AGV moves one grid per unit time).

[0105] Different task sets correspond to different numbers of tasks. Small task sets usually contain 50 tasks, medium task sets contain 100 tasks, and large task sets contain 200...

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Abstract

The invention provides a distributed multi-AGV dynamic task allocation and path planning method and system. The system mainly comprises an upper task management host and a plurality of isomorphic AGVs. The upper task management host is responsible for task management and distribution, and the upper task management host is mainly composed of a task information management module, a bidding task distribution module and a host wireless communication module. The AGVs are responsible for respective task path planning and execution, and each AGV is mainly composed of an AGV wireless communication module, an AGV task management module, an AGV bidding module, a single task path planning module, a task sorting module and a task execution module. According to the method, decentralized management among multiple AGV individuals can be realized, so that the problems of large calculation amount and low efficiency of path planning under dynamic tasks are solved. The efficiency of AGV execution of all tasks is improved, the management cost of a warehouse is reduced, the operation efficiency is improved, and the method has a relatively good application prospect.

Description

technical field [0001] The invention relates to a distributed multi-AGV dynamic task allocation method and system thereof, and belongs to the technical field of multi-AGV scheduling optimization. Background technique [0002] With the increasing cost of labor, more and more companies use automated guided vehicles (Automated Guided Vehicle, AGV) in the fields of warehousing and manufacturing to replace high labor costs, which can not only reduce business operating costs, but also Increase productivity. Because AGV has the characteristics of high degree of automation, good reliability, and strong adaptability, it has been widely used in the field of automated storage. For example, when sorting operations are performed in an unmanned warehouse, the dispatch center randomly receives new tasks (each task needs to transport goods from a given starting position to a destination position), and then reasonably allocates these tasks to multiple simultaneous tasks. The AGV of the str...

Claims

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Application Information

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IPC IPC(8): G06Q10/06G06Q10/08G06Q30/08
CPCG06Q10/06315G06Q10/08345G06Q30/08Y02P90/60
Inventor 罗杰李红
Owner NANJING UNIV OF POSTS & TELECOMM
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