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A Multi-AGV Guidance and Dynamic Path Planning Method

A dynamic path and path planning technology, applied in navigation, surveying and mapping, road network navigator, etc., can solve the problem of expensive navigation circuit, achieve low cost, low complexity, and improve work efficiency

Active Publication Date: 2019-07-16
济南佰意兴网络科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] In the same area, it is a difficult problem to realize the coordinated and efficient work of multiple AGVs (Automated Guided Vehicles). There are two main difficulties: one is the guidance problem, and what needs to be solved is how to ensure that the AGVs travel according to the predetermined route
The second is the problem of dynamic path planning. Because of the movement of other AGVs, each AGV is in a dynamic environment.
[0005] Navigation circuits are expensive to install

Method used

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  • A Multi-AGV Guidance and Dynamic Path Planning Method

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Embodiment 1

[0050] A multi-AGV guidance and dynamic path planning method includes the following four steps:

[0051] Part 1: Node and Line Division of Motion Regions

[0052]In order to realize the path planning and scheduling of AGV, this scheme firstly plans the location of label nodes in the target area of ​​AGV movement, and then connects the label points to each other to form a line for AGV movement, and finally consists of these lines and label nodes. The grid pattern is the motion area of ​​the AGV. The AGV must follow the line when moving, and it is not allowed to stop or turn in the middle of the line. When it is necessary to stop or turn, it must move to a certain node before it can be executed.

[0053] Part II: AGV Oriented Solution Design

[0054] In order for the AGV to move accurately on the planned route, this solution uses a combination of inertial navigation technology, image recognition technology and radio frequency identification technology. The AGV guidance of th...

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Abstract

The invention discloses a multi-AGV-guiding and dynamic path planning method. The multi-AGV-guiding and dynamic path planning method comprises the following four steps: step one, division of nodes and lines of a movement region; step two, design of an AGV-guiding scheme; step three, design of a competitive mode of motion nodes of AGV; and step four, path planning of the AGV. The invention aims to provide a scheme capable of realizing multi-AGV motion line guiding and dynamic path planning to guarantee that a plurality of AGVs moving in the same region can effectively arrive at target locations, and are prevented from colliding with other AGVs.

Description

technical field [0001] The invention relates to AGV guidance and dynamic path planning, in particular to a multi-AGV guidance and dynamic path planning method. Background technique [0002] In the same area, it is a difficult problem to realize the coordinated and efficient work of multiple AGVs (Automated Guided Vehicles). There are two main difficulties: one is the orientation problem, which needs to be solved is how to ensure that the AGVs travel according to the predetermined route. The second is the problem of dynamic path planning. Because of the movement of other AGVs, each AGV is in a dynamic environment. If the centralized planning method is adopted, its complexity will increase significantly with the increase of the number of AGVs. If the distributed planning method of the optimal path is decided by the AGV itself, it is difficult to avoid the path conflict of multiple intelligent AGVs, which greatly increases the probability of AGV parking and avoidance, and redu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34
CPCG01C21/343G01C21/3446
Inventor 刘鑫赵晋洪武发鲁张岩
Owner 济南佰意兴网络科技有限公司
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