The invention discloses a multi-AGV cooperative
scheduling system for realizing load balancing. The multi-AGV cooperative
scheduling system comprises a
task management module, a state monitoring module, a load balancing scheduling module, an AGV cooperative scheduling module, an
edge server optimization module, a task compression module, a task
parallel processing module and a performance evaluation module. Wherein the load balancing scheduling module adopts a mode of combining first-stage weighted
polling initial allocation and second-stage optimal allocation based on multi-agent deep
reinforcement learning, the AGV collaborative scheduling module adopts an AxTD3 method to divide an Actor network into two parallel sub-networks, and joint training is carried out by sharing a Critic network. The
edge server optimization module takes
execution time deviation as a state, constructs a lightweight
state vector in combination with a
server isomerism index, and introduces
federated learning and multi-Critic
network architecture. According to the invention, adaptive collaborative scheduling of multiple AGVs in an
edge computing environment is realized, and the
system load balancing capability, the
resource utilization efficiency and the task
processing response speed are effectively improved.