智能化仓库的AGV路径规划与紧急避障系统

AGV Path Planning and Emergency Obstacle Avoidance System in Intelligent Warehouse

针对智能化仓库复杂的物流环境,对AGV运作要求越来愈高,本文给出考虑任务优先级的多AGV系统路径规划算法,并基于仓库复杂环境下AGV作业方式提出动态避障策略。以二维空间建立多AGV运作拓扑地图,采用改进A^(*)算法求解单AGV最优路径,并应用Logistic函数描述多AGV系统路径使用频次的负载因子,减少多AGV系统阻塞路段以提高系统运作效率;同时提出两项同步并行避碰机制以解决多AGV运作环境下存在的四种碰撞类型,实验验证方案可行。

In view of the complex logistics environment of intelligent warehouse,higher requirements are placed on the operation of AGV.In this paper,the path-planning algorithm of multiple AGV systems considering task priority is given,and a dynamic obstacle avoidance strategy is proposed based on the AGV operation mode in the complex warehouse environment.The multi-AGV operation topology map is built in two-dimensional space,the single AGV optimal path is solved by improved A^(*)algorithm,and the load factor of multi AGV system path usage frequency is described by logistic function to reduce the blocking road section of multi AGV system and improve the system operation efficiency.A parallel collision avoidance mechanism is proposed to solve the four collision types existing in the multi-AGV operating environment.The experimental verification scheme is feasible.