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Path planning method for cooperative work of multiple AGVs

A technology of path planning and collaborative work, applied in two-dimensional position/channel control, vehicle position/route/height control, instruments, etc., can solve problems such as mutual deadlock, mutual collision, path conflict, etc., to increase safety Effect

Active Publication Date: 2020-04-14
WUHU HIT ROBOT TECH RES INST
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  • Abstract
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  • Application Information

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Problems solved by technology

[0011] The invention provides a path planning method for multi-AGV cooperative work, the purpose of which is to solve the problems of path conflicts, mutual collisions or mutual deadlocks that may occur when multi-AGV tasks are dispatched

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  • Path planning method for cooperative work of multiple AGVs
  • Path planning method for cooperative work of multiple AGVs
  • Path planning method for cooperative work of multiple AGVs

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Embodiment Construction

[0050] The specific implementation of the present invention will be described in further detail below by describing the embodiments with reference to the accompanying drawings, so as to help those skilled in the art have a more complete, accurate and in-depth understanding of the inventive concepts and technical solutions of the present invention.

[0051] One, the path planning method process of multi-AGV cooperative work of the present invention:

[0052] In order to overcome the defects of the prior art and achieve the purpose of solving the problem of path conflicts, mutual collisions or mutual deadlocks that may occur when multiple AGV tasks are dispatched, the technical solution adopted by the present invention is:

[0053] Such as figure 2 As shown, the path planning method of multi-AGV cooperative work of the present invention comprises the following steps:

[0054] 1) Construct the environment model of AGV;

[0055] 2) Take out the tasks that need to be executed; a...

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Abstract

The invention discloses a path planning method for cooperative work of multiple AGVs. The method comprises the following steps: step one, constructing an AGV environment model; step two, taking out atask to be executed; according to a task distribution rule, carrying out AGV matching degree sorting on each task; only allocating each to-be-executed task to one vehicle which does not execute the task, and carrying out path planning on the task; step three, judging whether a path needs to be re-planned or not; step four, judging whether a task sending condition is met or not; and step five, sending the task after the conditions in the steps three and four are met, and changing the attribute list of the AGV. According to the technical scheme, the planned shortest path is analyzed, and the paths among multiple AGVs are judged to ensure that no conflict occurs between the AGV and other AGVs; and a task sending module is added to ensure that the trolley can send the task without influencingother vehicles when executing the task.

Description

technical field [0001] The invention belongs to the technical field of automatic control of AGV vehicle transportation process. More specifically, the present invention relates to a path planning method for multiple AGVs working together. Background technique [0002] 1. Introduction to the technical development background of multiple AGV collaborative work path planning: [0003] AGV is a transportation device that relies on rechargeable batteries to provide power, realizes positioning by installing various sensors and other non-contact navigation devices, and can independently complete the established route tracking. AGV has a high degree of automation, high operating efficiency, low operating costs, and stable system Good performance and other advantages, gradually become the core equipment of smart warehouses and smart factories. [0004] In intelligent warehousing or production workshops, it is difficult for one AGV to complete efficient transportation, and multiple A...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0276
Inventor 陈双郑亮林振辉刘刚曹雏清高云峰
Owner WUHU HIT ROBOT TECH RES INST