A multi-agv collision avoidance method based on load balancing

Abstract

The invention discloses a multi-AGV collision avoidance method based on load balancing. Its features are: according to the workshop layout and route information, extract the turning points that change the direction of AGV, and divide independent road sections through the turning points; obtain the number of AGV passing road sections through independent road section record points, and obtain map information near road sections through maps, and design penalties respectively Item function and penalty coefficient, and update the global section length according to the acquired penalty item and penalty coefficient; the dispatching system obtains the order in which the tasks are executed by the AGV according to the task list, and selects the AGV to execute the task according to the AGV status list, using the ant colony algorithm, according to The starting point and end point of the task plan the route of the AGV to execute the task, and the priority method is used to solve the conflict problem between the AGVs to ensure the safe and stable operation of the system. The invention realizes uniform distribution of road section weights, effectively avoids the relative concentration of AGV driving routes, disperses the pressure of road operation, and reduces the number of conflicts between AGVs, thereby improving the task completion efficiency of the dispatching system.

Description

Technical field [0001] The present invention relates to a multi-AGV coordinated relief field, and in particular, a multi-AGV avoidance method based on load balancing. Background technique [0002] With the rapid development of the logistics industry at home and abroad, the market's demand for efficient AGV scheduling systems is increasing, and Automated Guided Vehicle, AGV is an important importance to realize automation, informationization and real-time. means. In the early workshop scheduling system, mainly focus on the task start and target point information, using the path planning algorithm accurate planning AGV travel route, consider the length of the current task driving route and the time required to perform the task, but there is no The system's overall completion of the task efficiency is considered, lacking the impact of conflicts between AGVs on the implementation task efficiency. As the logistics intelligent demand is increasing, the AGV scheduling system not only co...

AI Technical Summary

Problems solved by technology

In the early workshop scheduling system, it mainly focuses on accurately planning the AGV driving route by using the path planning algorithm based on the task starting point and target point information, considering the length of the current task driving route and the time required to perform the task, but there is no Consider the overall task efficiency of the system, and lack of consideration of the impact of conflicts between AGVs on the efficiency of task execution

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