摘要
With the continuous development of intelligent logistics, the application of Automated Guided Vehicles(AGVs) increasingly becomes popular in many industrial fields. However, there are a series of problems in multi-AGV systems, such as resource allocation, conflict and deadlock. It is difficult to plan the shortest path for each AGV without conflict and collision in multi-AGV systems. In this paper, a multi-AGV scheduling system in workshop is established by using the unidirectional directed graph method and the A* algorithm for path planning of AGVs. In addition, the system is realized by programming and a simulation experiment of 20 AGVs is set up. Finally, the simulation results show that the system can effectively solve the conflict problem of AGVs, and is stable and high real-time. The system is easily extended to their similar multi-AGV scheduling systems, and has a great application value.
With the continuous development of intelligent logistics, the application of Automated Guided Vehicles(AGVs) increasingly becomes popular in many industrial fields. However, there are a series of problems in multi-AGV systems, such as resource allocation, conflict and deadlock. It is difficult to plan the shortest path for each AGV without conflict and collision in multi-AGV systems. In this paper, a multi-AGV scheduling system in workshop is established by using the unidirectional directed graph method and the A* algorithm for path planning of AGVs. In addition, the system is realized by programming and a simulation experiment of 20 AGVs is set up. Finally, the simulation results show that the system can effectively solve the conflict problem of AGVs, and is stable and high real-time. The system is easily extended to their similar multi-AGV scheduling systems, and has a great application value.
引文
[1]H.Fazlollahtabar and M.Saidi-Mehrabad,Methodologies to Optimize Automated Guided Vehicle Scheduling and Routing Problems:A Review Study,Journal of Intelligent&Robotic Systems,77(3-4):525-545,2015.
[2]T.Nishi,Y.Hiranaka,I.E.Grossmann,A Bilevel Decomposition Algorithm for Simultaneous Production Scheduling and Conflict-free Routing for Automated Guided Vehicles,Computers&Operations Research,38(5):876–888,2011.
[3]H.Rashidi and EPK.Tsang,A Complete and an Incomplete Algorithm for Automated Guided Vehicle Scheduling in Container Terminals,Computers&Mathematics with Applications,61(3):630-641,2011.
[4]Q.Sun,H.Liu,et al.,On the Design for AGVs:Modeling,Path Planning and Localization,in Proceedings of the 2011IEEE International Conference on Mechatronics and Automation,2011:1515-1520.
[5]C.B.Wang,et al.,Path Planning of Automated Guided Vehicles Based on Improved A-Star Algorithm,in Proceeding of the 2015 IEEE International Conference on Information and Automation,2015:2071-2076.
[6]B.W.Shen,N.B.Yu,and J.T.Liu.Intelligent Scheduling and Path Planning of Warehouse Mobile Robots,CAAI Transactions on Intelligent Systems,9(6):659-664,2014.
[7]Z.Z.Yu,J.H.Yan,et al.,Mobile Robot Path Planning Based on Improved Artificial Potential Field Method,Journal of Harbin Institute of Technology,43(1):50-55,2011.
[8]Z.B.Sui and J.L.Lu,A Study on the Path Planning of Mobile Robot with the Fuzzy Logic Method,Transactions of Beijing Institute of Technology,23(3):157-162,2003.
[9]R.Zhou,Z.H.Lu,and C.L.Chen,Navigation for Mobile Robots Using Reinforcement Learning and Fuzzy Logic,Computer Simulation,22(8):157-162,2005.
[10]L.Kalinovcic,T.Petrovic,et al.,Modified Banker’s Algorithm for Scheduling in Multi-AGV Systems,in Proceedings of 2011 IEEE International Conference on Automation Science and Engineering,2011:351-356.
[11]V.Bobanac and S.Bogdan,Routing and Scheduling in MultiAGV Systems Based on Dynamic Banker Algorithm,in Proceedings of 2008 16th Mediterranean Conference on Control and Automation,2008:1168–1173.
[12]X.B.Hu;M.K.Zhang,et al.,An Effective Method to Find the K Shortest Paths in A Generalized Time-Window Network,in Proceedings of 2016 IEEE Congress on Evolutionary Computation,2016:2345–2351.
[13]L.L.Liao,X.S.Cai,Vehicle Routing with Time Windows Based on Two-Stage Optimization Algorithm,in Proceedings of 2016 Chinese Control and Decision Conference,2016:4741–4745.
[14]N.Smolic-Rocak,S.Bogdan,et al.,Time Windows Based Dynamic Routing in Multi-AGV Systems,IEEE TRANS on Automation Science And Engineering,7(1):151-155,2010.
[15]Z.X.Cai,B.F.Chen,et al.,Synergy Principles and Technologies of Multi-mobile Robots,Beijing:National Defence Industry Press,2011.