无向Petri网的多AGV最优路径方法研究

Routing algorithm for multiple AGVs with the undirected Petri net

采用无向Petri网对自动导引车(AGV)系统路径布局进行建模,与时间窗(Time-window)结合建立基于时间的可达状态图.将调度的方法用于双向通行的多AGV系统的路径优化,并将多AGV同步寻找优化路径转化为对单个AGV分别寻找优化路径,降低了系统的复杂性.利用Best-first搜索方法,以下一步路径的状况作为确定目前状态的依据,提出了时间最短的路径优化算法.该方法可以在保证系统无死锁和冲突的基础上,使得AGV得到时间最短的优化路径.实例计算表明优化效果明显.该方法可用于较大规模的多AGV路径优化问题.

The undirected Petri net is used to model the AGV system layout problem. A time-based reachable state graph is constructed by the time-window combined with the reachable state graph. The scheduling method is used to route the bidirectional AGV system, and the multiple AGVs routing problem is transformed into the single AGV routing problem in order to reduce problem complexity. A shortest time routing algorithm is proposed based on Best-first search, which determines the present state depending on the information of its next step path, By using this method, the shortest time route for each AGV can be found while avoiding deadlock, blocking and collision. Example results indicate that the algorithm can achieve a better optimal solution. This method can be used to deal with large scale systems.