Obstacle avoidance control method based on time window

Abstract

The invention provides an obstacle avoidance control method based on a time window. The method comprises steps: S1, a time window is set for each obstacle avoidance object; S2, time window parametersof all obstacle avoidance objects are acquired through a coordinative control agent; S3, comparative analysis is carried out, interactive computing is executed on each two of the obstacle avoidance objects, if interaction exists in the time window of a target obstacle avoidance object and time windows of other obstacle avoidance objects, the priorities are judged firstly, if the priority of the target obstacle avoidance object is higher, the original speed is kept for continuous driving, and if the priority of the target obstacle avoidance object is lower than those of other obstacle avoidanceobjects, the driving speed of the target obstacle avoidance object is reduced; and S4, the computing result acts on the served obstacle avoidance object executer to control the driving speed of the obstacle avoidance object, collision between obstacle avoidance objects can be avoided, and the purpose of obstacle avoidance is thus achieved. The time window parameters of the target obstacle avoidance object and other obstacle avoidance objects are compared, the interaction conditions are found out, each operation speed is controlled, and the collision possibility is thus avoided.

Description

technical field [0001] The invention relates to the technical field of industrial control, in particular to an obstacle avoidance control method, which can be applied to the control field of AGV trolleys. Background technique [0002] With the rapid development of science and technology, AGVs have been used more and more widely in modern cargo handling. It has a high degree of automation and can meet the requirements of flexible manufacturing systems and three-dimensional warehouses. Among them, AGVs refers to the automatic guided vehicle system, which is composed of a management computer, a data transmission subsystem, a number of automatic guided vehicles (AGVs) traveling along the guidance path, and a ground subsystem group, which are used for timely and effective dispatching. Automatically guide the car to a certain location to complete the specified action, and has a monitoring and management system. AGVs have unparalleled advantages in modern technology. Reasonable a...

AI Technical Summary

Problems solved by technology

However, in AGVs, due to the joint operation of multiple AGV cars, it is likely to cause collisions, so it is particularly critical to solve this problem reasonably

[0003] The method of the present invention is based on the shortcomings of existing AGVs, and proposes an obstacle avoidance method based on time windows. Compared with the basic vehicle routing problem that only includes vehicle load constraints, the vehicle routing problem with time windows can better reflect the actual application However, since the vehicle routing problem itself is a big problem, and the time window problem adds a time window constraint on this basis, which makes the solution of the problem more difficult, so the research on the model and solution algorithm of the time window problem has been It is the focus and difficulty of vehicle route planning research

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