A path planning method for multi-AGV cooperative work
A path planning and collaborative work technology, applied in two-dimensional position/channel control, vehicle position/route/altitude control, instruments and other directions, it can solve problems such as mutual deadlock, mutual collision, path conflict, etc., to increase safety Effect
Active Publication Date: 2022-07-26
WUHU HIT ROBOT TECH RES INST
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[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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[0050] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, through the description of the embodiments, to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solutions of the present invention.
[0051] 1. The process of the path planning method of the multi-AGV cooperative work of the present invention:
[0052] In order to overcome the defects of the prior art and achieve the purpose of the invention to solve the problems of path conflict, mutual collision or mutual deadlock that may occur when multiple AGV tasks are dispatched, the technical solution adopted in the present invention is:
[0053] like figure 2 As shown, the multi-AGV cooperative path planning method of the present invention includes the following steps:
[0054] 1), build the environment model of AGV;
[0055] 2), take out the tasks that need to...
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The invention discloses a path planning method for multi-AGV cooperative work, comprising the following steps: 1), constructing an environment model of AGV; 2), extracting tasks to be performed; according to task dispatch rules, AGV matching degree is carried out for each task Sorting; each task to be executed can only be assigned to a vehicle that has not executed the task, and the task path planning is carried out; 3), determine whether the path needs to be re-planned; 4), determine whether the conditions for task sending are met; 5) , After meeting the conditions of step 3) and step 4), send the task and change the attribute list of the AGV. Using the above technical solutions, the planned shortest path is analyzed, and the paths between multiple AGVs are judged to ensure that there is no conflict with other AGVs; a task sending module is added to ensure that the car does not affect other vehicles when performing the task. can be sent later.
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 in which multiple AGVs work together. Background technique [0002] 1. Introduction to the related technical development background of multiple AGV collaborative work path planning: [0003] AGV is a transportation equipment that relies on rechargeable batteries to provide power, and realizes positioning by installing various sensors and other non-contact navigation devices. It can independently complete the tracking and driving of the established route. AGV has a high degree of automation, high operating efficiency, low operating costs, and system stability. Good performance and other advantages, it has 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 com...
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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