基于ROS的多AGV在交叉路口下协同控制策略

Cooperative control strategy of multi-AGV based on ROS at intersection

针对多自动搬运车(Automated Guided Vehicle,AGV)在物料运输车间内交叉路口下的协同控制问题,设计了一种在机器人操作系统(Robot Operating System,ROS)下的基于队列控制的多AGV协同控制算法。首先,利用Cartographer算法构建AGV工作区间的二维环境地图,规划出AGV可行驶的全部路径,并分析了交叉路口出现的冲突模型。其次,设计了交叉路口队列的数据结构,在地图和路径的基础上根据AGV行走速度划分出交叉路口的队列控制区。最后,融合ROS导航功能包编写多AGV协同控制算法,并结合数据库终端数据转存表设计了多种测试用例,对该算法进行了验证,实验结果表明:该算法能够有效地解决多AGV在各种冲突模型下的协同控制问题,降低了程序模块之间的耦合度,提高了程序的适用性。

A multi-AGV cooperative control algorithm based on queue control under ROS was designed for the coorperative control of multi-AGV at intersection of material transportation workshop.Firstly,the Cartographer algorithm was used to construct the 2D environment map of the AGV working area,all the paths that the AGV can travel were planned and the conflict model appearing at intersection was analyzed.Secondly,the data structure of the intersection queue was designed.Based on the map and the path,the queue control area of the intersection was divided according to the AGV walking speed.Finally,the ROS navigation function package was used to compile the multi-AGV cooperative control algorithm,and a variety of test cases were designed in combination with the database data transfer table.The experimental results show that the algorithm can effectively solve the multi-AGV cooperative control problems under various conflict models,reduce the coupling between program modules and improve the applicability of the program.