摘要
AGV(Automatic Guided Vehicle)以其能够节省人工、降低工人劳动强度、效率高、环境适应性强等特点在工厂自动化、厂内物流等领域占据越来越重要的地位。大多数的应用场合需要两台及两台以上的AGV小车共同完成搬运等任务,这时基于单一AGV的控制模式则难以满足多AGV协同应用场景的要求。研究采用基于有向图的拓扑地图方法对工厂进行建模,然后通过改进蚁群算法,对AGV路径规划问题进行研究,并以用时最短、有限缓冲区为优化目标,研究多AGV系统的协同调度问题,并分析了动态调度过程中AGV冲突解决办法。
Automatic Guided Vehicle plays a more and more important role in the field of factory automation,factory logistics and so on,because it can save labor,reduce labor intensity,high efficiency and strong environmental adaptability.In most applications,two or more AGV trolleys are needed to carry out the tasks together.At this time,the control mode based on a single AGV is difficult to meet the requirements of multi AGV collaborative application scenarios.In this paper,the topology map method based on directed graph is used to model the factory,and then the path planning problem of AGV is studied by improving ant colony algorithm.Taking the shortest time and limited buffer as the optimization goal,the cooperative scheduling problem of multi AGV system is studied,and the solution of AGV conflict in the dynamic scheduling process is analyzed.
作者
边江
王志宏
牛新立
姜玉涛
BIAN Jiang;WANG Zhi-hong;NIU Xin-li;JIANG Yu-tao(Heilongjiang North Tools Co.,Ltd.,Mudanjiang 157000,China;Heilongjiang Xinnuo Robot Automation Co.,Ltd.,Harbin 150000,China)
出处
《黑龙江科学》
2019年第22期4-7,共4页
Heilongjiang Science
关键词
多AGV
调度算法
拓扑地图
改进蚁群算法
Multi-AGVs
Schedule algorithm
Topological map
Improved ant colony algorithm
