基于改进A算法的AGV调度研究

Research on AGV Scheduling Based on Improved A Algorithm

针对传统路径规划算法在多AGV路径规划时容易出现拥堵的情况,影响运行效率,提出了改进的A^(*)算法。首先,在A^(*)算法启发函数中加入拥堵系数,以避免AGV出现大规模拥堵;其次,约束路径的节点数与转角,减少转向时间的浪费;最后,分析常见的AGV冲突类型,通过建立时间窗模型,预测和规避可能发生的冲突。通过对比试验,验证了算法的有效性。

Aiming at the traditional path planning algorithm that is prone to congestion in multi-AGV path planning,which affects the operating efficiency,an improved A^(*)algorithm is proposed.First,add a congestion coefficient to the A^(*)algorithm heuristic function to avoid large-scale congestion in multi-AGV system;secondly,restrict the number of nodes and corners of the path to reduce the waste of steering time;finally,analyze common AGV conflict types and establish a time window model,predict and avoid possible conflicts.