基于时间窗的AGV动态避碰路径规划方法

为了解决多AGV在动态不稳环境下的无碰撞路径规划和系统效率提升的问题,提出了基于时间窗的AGV无碰撞路径规划方法。首先建立了多AGV的避碰模型,并结合时间窗模型,将多AGV的无碰撞路径规划分为预先规划和实时规划两阶段,预先规划阶段进行多AGV无冲突时间窗的计算和最大化系统中AGV的流通量,实时规划阶段通过改变AGV在避碰模型上的占用优先级和局部重规划的方法进行动态避碰。最后以某智能仓储为应用案例进行仿真实验,证明了该算法能有效避免多AGV的碰撞,提高AGV的流通量,同时在动态环境下具有较好的鲁棒性和柔性。

Path planning method for AGV dynamic collision avoidance based on time window

In order to solve the problem of collision free path planning and system efficiency improvement of multi AGV in dynamic unstable environment, this paper proposes a collision free path planning method based on time window for AGV. Firstly, this paper established a multi-AGV collision avoidance model, combines with the time window model, and divides the collision-free path planning of multiple AGV into two stages: pre-planning and real-time planning. In the pre-planning stage, this paper calculated the conflict-free time window of multiple AGV and maximized the circulation of AGV in the system. In the real-time planning stage, this paper used the method of changing the AGV''s occupancy priority on the collision avoidance model and local re-planning to dynamically avoid collisions. Finally, a simulation experiment with a smart warehouse as an application case proves that the algorithm can effectively avoid the collision of multiple AGV, increase the circulation of AGV, and has good robustness and flexibility in a dynamic environment.