Multi-AGV scheduling method applied to large logistics system

Abstract

The invention relates to a multi-AGV scheduling method applied to a large logistics system, and belongs to the field of logistics and path planning and intelligent control. According to the method, multiple AGVs are dispatched for a large logistics system to automatically complete path planning in a transportation task, conflicts between paths are adjusted, barrier-free operation is guaranteed, and therefore the task can be completed smoothly. The scheduling method is applied to a two-way lane of a large logistics system, and an environment model is established to establish an environment electronic map. And when a task exists, selecting a proper AGV to accept the task, writing a moderate function as a standard for selecting an optimal road, adding the moderate function into a cuckoo algorithm, and planning and finding out an optimal path of each AGV one by one. The optimal path considers the path distance, the turning number in the path and the road congestion degree at the same time,the cuckoo algorithm is combined with the time window, and whether the paths conflict with one another or not is detected through updating and arrangement comparison. A traffic rule is adopted, so that the AGV is ensured to run rightwards at a constant speed on a two-way road, a safe distance is kept, and opposite conflicts and pursuit conflicts are eliminated; and node conflicts are eliminated by adopting a priority method and a deceleration adjustment method, so that the system operation efficiency and the AGV operation efficiency are improved.

Description

technical field [0001] The invention belongs to the field of logistics and path planning and intelligent control, and specifically relates to a multi-AGV scheduling method applied to a large-scale logistics system. Background technique [0002] The multi-AGV (Automated Guided Vehicle) dispatching system can accept and assign tasks, and simultaneously control multiple AGVs to intelligently select the optimal path for transportation until the task is successfully completed. In the process of AGV intelligent transportation, the system needs to monitor and control the driving speed of AGV in real time to avoid path conflicts. The scheduling decision and performance of the scheduling system are related to the sensitivity, reliability, effectiveness and stability of the system. Nowadays, in the process of AGV intelligent path planning, one-way paths are mostly used, and the site area division is unreasonable, resulting in low site utilization; due to the one-way path, there are fe...

AI Technical Summary

Problems solved by technology

Nowadays, in the process of AGV intelligent path planning, one-way paths are mostly used, and the site area division is unreasonable, resulting in low site utilization; due to the one-way path, there are few alternative path schemes, and some AGVs cannot If you want to return by the same way, you must choose another plan to return to the task acceptance point, and there will be phenomena such as seeking far away from the near ones.

Make AGV unable to choose the optimal path, resulting in extended transportation time

Most dispatching systems are unreasonable when adjusting path conflicts, changing the speed of AGVs at will, and even making the adjusted AGVs stop and wait, resulting in the formation of new chasing conflicts, resulting in increased computation and slow operation of the dispatching system

These all lead to low efficiency of AGV transportation

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