The invention discloses a multi-AGV scheduling method based on petri
network decomposition. The method comprises the following steps: step 1, converting a warehouse
topological graph into a collision-free petri
network model; decomposing the whole petri
network model into sub-networks according to the drivable
route of the single AGV; step 2, adopting a Dijkstra
algorithm to realize global
shortest path planning of the single AGV, and further adjusting the obtained
algorithm according to the actual motion condition of the vehicle; step 3, establishing a target function; step 4, taking a staticshortest path obtained by a single AGV in each sub-network as a basis; using an external point penalty
function method to carry out path iteration, obtaining collision and
deadlock problems existingin the operation process of multiple AGVs, analyzing and locally optimizing the types of collision and
deadlock, locally optimizing the path by taking time optimization as a principle, and generatingan optimal collision-free scheduling scheme. The method is high in operation efficiency, high in
reaction speed and high in adaptability.