Multi-AGV conflict solving scheduling method based on graph theory

By adopting a graph theory-based conflict resolution scheduling method in multi-AGV systems, the conflict graph is constructed and the AGV path is adjusted in real time, the problems of path conflict and deadlock in multi-AGV systems are solved, and the efficient operation and good scalability of the system are achieved.

CN119690067AActive Publication Date: 2025-03-25ZHUHAI MAKERWIT TECH CO LTD
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Patent Information

Application Number
CN202411753593.9
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-12-02
Publication Date
2025-03-25
Estimated Expiration
2044-12-02

AI Technical Summary

Technical Problem

In multi-AGV systems, with the increase in the number of AGVs and the increase in task complexity, the problems of path conflict and deadlock are becoming increasingly prominent. The existing time-domain-based path search algorithm has high requirements for the real-time performance of AGVs, and traditional conflict detection and path planning methods are insufficient in dynamic and complex environments.

Method used

A multi-AGV conflict resolution scheduling method based on graph theory is used. By planning a path from the start point to the end point for each AGV and defining the conflict detection range, a conflict graph is constructed to represent the conflict relationship between AGVs. Identify deadlocks in the conflict graph and design unlock paths or conflict resolution strategies to adjust the paths of AGVs in real time to avoid conflicts.

Benefits of technology

It effectively solves the problem of path conflict and deadlock in multi-AGV systems, avoids deadlocks in advance, ensures efficient operation of the system, can handle complex conflict relationships, and has good scalability and robustness.

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Abstract

The invention provides a multi-AGV conflict solving scheduling method based on a graph theory, and the method comprises the steps: planning a planning path from a starting point to a terminal point for each AGV, and issuing an actual path to the AGV for execution; defining a conflict detection range in a planned path for each AGV, calculating a conflict relationship between each AGV and other AGVs in the range, and updating a graph structure representing the conflict relationship between the AGVs according to the conflict relationship; identifying whether a cyclic conflict which cannot be solved by simply adjusting a sequence or a path exists in the conflict graph, and designing and issuing a specific unlocking path or a conflict solving strategy according to the detected deadlock; and according to the conflict resolution strategy, the planned path of the related AGV is adjusted in real time, and the adjusted path is used as an issuing path to be sent to the AGV for execution so as to deal with dynamically occurring conflicts. The method is used for solving conflicts and deadlocks in the multi-AGV scheduling process, and deadlocks are prevented from being formed in advance under the condition that information is sufficient.
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