智慧工厂AGV调度与避障的研究

Study on AGV Scheduling and Obstacle Avoidance for Wisdom Factory

目前国内工厂使用的AGV小车绝大部分行驶路线固定,控制方式也仅是执行提前预制好的控制指令执行,并不适合大型工厂的工作。在大型工厂进行工艺变动,工位调整时,会对导航硬件和布局造成很大改动[1]。本文研究的调度与避障方法主要基于RFID和超声波测距技术,通过分析AGV在正常工作过程中各种可能发生事件及其造成的后果进行权重衡量,并制定出多种避障预案。当AGV遇障时,通过自身权重赋予的优先级选择最优避障预案,降低调度难度和成本。

At present, the current domestic AGV car factories use most of the route is fixed, control mode is only executed in advance control instruction execution is not suitable for prefabricated, large factory work[1]. When the process change and station adjustment are made in large factories, the navigation hardware and layout will be greatly changed. This method of scheduling and obstacle avoidance is based on RFID and ultrasonic ranging technology, through the analysis of AGV in the normal work process may encounter, for various events and measuring the weight of the possible consequences, and to develop a variety of obstacle avoidance plan. When AGV encounters obstacles, the optimal obstacle avoidance plan is selected by the priority given by its own weight to reduce the difficulty and cost of scheduling.