基于时间窗的改进两阶段AGV路径规划研究  

Research on Improved Two-Stage AGV Path Planning Based on Time Window

作　　者：徐镇华 马殷元[1,2,3] XU Zhen-hua;MA Yin-yuan(Meehatronie T＆R Institute,Lanzhou Jiaotong University,Lanzhou 730070,China;Gansu Center for Logistics and Transport Equipment Information,Lanzhou 730070,China;Gansu Institute of Logistics and Information Technology,Lanzhou 730070,China)

机构地区：[1]兰州交通大学机电技术研究所,甘肃兰州730070 [2]甘肃省物流及运输装备信息化工程技术研究中心,甘肃兰州730070 [3]甘肃省物流与信息技术研究院,甘肃兰州730070

出　　处：《测控技术》2018年第6期145-149,154,共6页Measurement & Control Technology

基　　金：甘肃省自然科学基金项目(1508RJZA069);兰州交通大学优秀科研平台(团队)资助计划(201604)

摘　　要：针对自动导引车(AGV)在仓储物流搬运系统中的路径冲突问题,提出了一种基于时间窗的改进两阶段动态路径规划方法。对原有两阶段路径规划方法进行改进,在离线情况下,将时间窗原理和Dijkstra算法相结合,顺序规划出各个AGV的路径,采用改变AGV优先级的方法在线进行路径动态规划。通过仿真实验证明了改进后算法可以减少冲突的概率,有效地避免了AGV之间的碰撞,不仅具有很好的鲁棒性和柔性,而且可以提高系统效率。In order to solve the problem of path collision of automatic guided vehicle（AGV） in warehousing logistics handing system, an improved two-stage dynamic path planning method based on time window is proposed. The original two-stage path planning method was improved, the Dijkstra algorithm and the time window principle were combined to sequentially plan the paths of each AGV in the offline case. The method of changing the AGV priority was used to dynamically plan the path online. The simulation results show that the improved algorithm can reduce the probability of collision, effectively avoid the collision between the AGVs. It not only has good robustness and flexibility, but also can improve the system efficiency.

关 键 词：AGV 时间窗 改进两阶段交通控制策略 Dijstra算法 改变优先级策略 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]