Real-Time Conflict-Free Task Assignment and Path Planning of Multi-AGV System in Intelligent Warehousing
2018 37TH CHINESE CONTROL CONFERENCE (CCC)(2018)
摘要
With the continuous development of intelligent robot, the application of Automated Guided Vehicles (AGV) increasingly becomes popular in many industrial fields. However, there are a series of problems in Multi-AGV System, such as resource allocation, conflict and deadlock. It is hard to find a perfect path for each AGV without conflict and collision in Multi-AGV System. In this paper, a Multi-AGV task assignment system is established by using the time window method and we find the optimal path by the A* algorithm. In addition, the system is realized by programming and a simulation experiment. The simulation results show that the system can effectively solve the conflict problem of AGVs, and is stable and high real-time.
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关键词
Automated Guided Vehicle, Path Planning, Task Assignment
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