Multi-AGV path planning method based on time slice

Abstract

The invention provides a multi-AGV path planning method based on a time slice, and relates to the technical field of robot control, a scheduling method based on the time slice is adopted, and the movement path of the AGV is stored in a time + space map, so that the AGV can perform path planning under the condition that the AGV cannot perform real-time communication with a control center or other AGVs. The method has the beneficial effects that the adaptability to the severe environment is high; compared with other methods of pre-designing a motion path, the method has the advantages that the physical space occupied by each AGV at the same time is smaller, and the working efficiency can be improved; the operation error of the AGV in the operation process is considered, and the redundancy of path planning is increased.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a multi-AGV path planning method based on time slices. Background technique [0002] When planning the path of an AGV in an environment with multiple AGVs, it is often necessary to consider the impact of other AGVs on the AGV path. In order to avoid path interference between multiple AGVs, traditional methods often require real-time data transmission between the AGV and the control center, and at the same time require the AGV to use radar and other equipment to identify and avoid surrounding obstacles. In special environments (such as sandstorms, cosmic rays), the AGV and the control center cannot communicate in real time, nor can they use sensors to identify the surrounding environment, and can only work using pre-planned paths. [0003] In previous methods, such as reference document 201711441555.X, only the case where the AGV moves completely according to pa...

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a multi-AGV path planning method based on time slices, which solves the problems in the prior art that the AGV path planning method requires real-time communication, etc.

Images