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Obstacle avoidance optimization method for warehouse logistics dispatching based on KM algorithm and artificial potential field method

An artificial potential field method and warehousing logistics technology, applied in the field of warehousing logistics scheduling and obstacle avoidance optimization based on KM algorithm and artificial potential field method, can solve problems such as low efficiency, achieve high efficiency, avoid collision goals, and improve handling efficiency. Effect

Inactive Publication Date: 2018-11-16
ZHEJIANG UNIV OF TECH
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AI Technical Summary

Problems solved by technology

[0003] In order to overcome the low efficiency of the existing multi-AGV path planning, the present invention provides an efficiency-improving optimization method for warehousing logistics scheduling and obstacle avoidance based on the KM algorithm and the artificial potential field method

Method used

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Embodiment Construction

[0017] The present invention will be further described below.

[0018] A storage logistics scheduling obstacle avoidance optimization method based on KM algorithm and artificial potential field method, comprising the following steps:

[0019] 1) Determine the collision critical point of the two AGV cars by defining the geometric relationship between the projected circles of the two AGV cars. Observe the change of the distance between the centers of the two cars and compare the reaction distance to choose different schemes, and increase the distance between the two AGV cars through the execution of the avoidance program, so as to avoid the occurrence of collisions;

[0020] 2) The Kuhn-Munkres algorithm is used to find the minimum complete match of all weight sums at the current moment, and the AGV car is driven according to the complete match;

[0021] 3) Given the number of imported cars and setting certain obstacles, seek a practical and feasible algorithm to give the optim...

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Abstract

The invention relates to an obstacle avoidance optimization method for warehouse logistics dispatching based on a KM algorithm and an artificial potential field method, which comprises the steps of 1)observing the change of center distance between two vehicles and comparing the reaction distance to select different schemes, and executing an obstacle avoidance program to enlarge the distance between the two AGVs (Automatic Guided Vehicles); 2) calculating a perfect matching capable of enabling the sum of all weights to be the minimum at the current moment by adopting a Kuhn-Munkres algorithm;3) setting the number of introduced vehicles, setting obstacles, seeking a practical and feasible algorithm, and providing an optimal path for the driving of the AGV vehicle and the shortest time fortask execution; 4) establishing a system efficiency evaluation index; and 5) adopting a path planning method which combines a global path planning method and a local path planning method and combinesreaction based behavior planning and careful reflection based behavior planning for an unknown or partially known dynamic non-structural environment.

Description

technical field [0001] The present invention relates to the field of route planning and task scheduling, in particular to the field of warehouse logistics, and specifically refers to a warehouse logistics scheduling obstacle avoidance optimization method based on KM algorithm and artificial potential field method Background technique [0002] With the gradual development of factory automation, computer integrated manufacturing system technology and the wide application of flexible manufacturing systems and automated three-dimensional warehouses, AGV (Automatic Guided Vehicle), that is, automatic guided vehicles, is used to connect and adjust discrete logistics systems to make their operations continuous The necessary means of automatic handling and loading and unloading, its application scope and technical level have been rapidly developed. AGV is an unmanned automatic guided vehicle with a microcontroller as the control core, a battery as the power, and a non-contact guidin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223G05D1/0276
Inventor 赵翌航卢允子何德峰
Owner ZHEJIANG UNIV OF TECH
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