Task allocation and conflict-free path planning method for pull-type multi-AGV system

A technology for task allocation and path planning, applied in general control systems, control/regulation systems, program control, etc.

Active Publication Date: 2020-07-28
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the task distribution and conflict-free path planning method of the trailer-type multi-AGV system disclosed in the present invention is: in the mixed assembly production workshop where only a single AGV is allowed to pass through the logistics channel, combine the AGV and multiple trailers into a trailer The trailer-mounted AGV system, the trailer-type AGV is recorded as AGTT (Auto-Guided Tow Train), considering the length of the trailer-type AGV, the task assignment and conflict-free path planning of the trailer-type multi-AGV system are carried out, so that the trailer-type AGV The AGV can transport the goods to the designated location under the requirement of the soft time window of the demand point, and optimize the task allocation to minimize the sum of the total energy consumption of all task delivery and the lag time penalty value of task completion with different weights

Method used

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  • Task allocation and conflict-free path planning method for pull-type multi-AGV system
  • Task allocation and conflict-free path planning method for pull-type multi-AGV system
  • Task allocation and conflict-free path planning method for pull-type multi-AGV system

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Embodiment

[0108] Example: The layout grid diagram of a production workshop is as follows Figure 6 As shown, the channel width allows only one trailered AGV to pass through at a time. Trailer-type AGV can only run forward, not backward. The randomly generated transportation tasks and their specific information are shown in Table 1.

[0109] Table 1 Transportation task list

[0110]

[0111] Such as image 3 As shown, this embodiment discloses the method for task allocation and conflict-free path planning of the trailer-type multi-AGV system, and the specific implementation steps are as follows:

[0112] Step 1. Process the layout map of the production workshop to generate a grid map MAP and add a time dimension to record it as a spatio-temporal map map. The grid map MAP needs to have the position information of the cutting points of all workstations.

[0113] Step 2. Initialize data related to task allocation, including the maximum number of AGVs agv_available, the maximum number...

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Abstract

The invention discloses a task allocation and conflict-free path planning method for a pull-type multi-AGV system and belongs to the technical field of multi-AGV scheduling. According to the method ofthe invention, in a mixed assembly production workshop where a logistics channel only allows a single AGV to pass through, the AGV is combined with a plurality of trailers to form a pull-type AGV system. With the length of the pull-type AGV considered, task allocation and conflict-free path planning of the pull-type multi-AGV system are carried out, so that pull-type AGVs can transport goods to designated positions under the requirement of a demand point soft time window, and task allocation is optimized, so that the sum of the total energy consumption of the distribution completion of all tasks and the lag time penalty value of task completion, which is obtained by means the addition of different weights, is the minimum. According to the method of the invention, the cost of purchasing alarge amount of logistics equipment by an enterprise can be reduced, the energy consumption generated by the logistics equipment is reduced, the production cost of the manufacturing enterprise is reduced, and the market competitiveness of products is improved. Reasonable task allocation and path planning can relieve the pressure of a line edge cache region of a mixed assembly production system, sothat the production system operates more efficiently and stably.

Description

technical field [0001] The invention relates to a method for task allocation and conflict-free path planning of a towed multi-AGV system, and belongs to the technical field of multi-AGV scheduling. Background technique [0002] In recent years, with the rapid development of science, technology and economy, customers' demand for product customization is increasing day by day, and manufacturing enterprises are facing huge pressure for industrial upgrading. The realization of small batches of complex product manufacturing is to meet the different needs of customers and maintain The key to the original market competitiveness of the product. As a production system that can produce different products at the same time, the mixed assembly production workshop can realize the production of various products compared with the traditional production line. Reasonable production scheduling and material distribution can realize small batch manufacturing of different products, which can effe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/418G01C21/00G01C21/20
CPCG01C21/005G01C21/20G05B19/41895G05B2219/32252Y02P90/02Y02P90/60
Inventor 胡耀光卢山
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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