基于时间窗的自动导引车无碰撞路径规划

Conflict-free automated guided vehicles routing based on time window

针对柔性制造系统中自动导引车的无碰撞路径规划问题,结合预先规划算法和实时规划算法的优点,提出基于先验决策的自动导引车无碰撞路径规划方法。将Dijkstra算法和时间窗原理相结合,顺序规划各个自动导引车的路径。在已规划自动导引车路径的基础上,运用基于Dijkstra的算法继续规划下一自动导引车,实现自动导引车的无碰撞路径规划。该算法能有效避免死锁及碰撞,并保证最优化路径,能快速响应新的任务,在动态环境下具有较好的柔性。结合实例说明了该算法的实现过程,并证明了该方法具有较好的鲁棒性和柔性,同时能提高系统效率。

To solve conflict-free path planning problem for the Automated Guided Vehicles（AGV） in flexible manufacturing system,by combining advantages of pre-planning algorithm and real-time planning algorithm,a conflict-free AGV routing based on performance-based structural policy was proposed,in which Dijkstra algorithm and time window principle were combined.Every AGV path was scheduled in order.Based on the planned AGV paths,conflict-free routing was achieved by employing the Dijkstra algorithm in the next AGV routing.This algorithm effectively avoided deadlocks and guaranteed optimal path.It responded to new assignment rapidly with better flexibility in dynamic environment.Finally,the algorithm was performed with practical case,which proved to have better robustness,flexibility and efficiency.