智能车间AGV运送任务序列分配及路径规划
Task Sequence Allocation and Path Planning of AGV Transportation in Intelligent Workshop

针对智能制造车间多自动导引小车的调度和路径规划问题，需要同时考虑每台AGV的工作是装卸和运输工件，提出了AGV分步任务调度及路径优化模式，首先基于最小化最大运送完工时间为优化目标建立数学模型算法和基于工件加工紧急程度的物料运输任务分配算法，将货架和加工设备间的所有工件运送任务序列分配给相应的AGV，生成每台AGV初始可行路径。然后设计AGV冲突检测及防碰撞算法，规划多台AGV在车间工作场所全局无碰撞行走路径，并可以根据运送任务动态调整路径。最后通过算例验证方法的有效性，能有效解决多台AGV任务分配和基于运送任务序列避免冲突碰撞的路径规划，提高AGV工作效率。
In order to solve the scheduling and path planning problems of multi AGVs in an intelligent manufacturing workshop, it is necessary to consider loading and unloading, and transporting the workpiece of each AGV at the same time. A step task scheduling and path optimization mode of AGV is proposed. The process is as follows: Firstly, a mathematical model algorithm and a material transportation task allocation algorithm based on the degree of workpiece processing urgency were established for the optimization objective, and all workpiece transportation task sequences between shelves and processing equipment were assigned to the corresponding AGV to generate the initial feasible path of each AGV. Then, the AGV collision detection and anti-collision algorithm are designed to plan the global collision-free walking path of multi AGVs in the workshop, and the path can be dynamically adjusted according to the delivery task. Finally, an example is given to verify the effectiveness of the method, which can effectively solve the task allocation of multi AGVs and avoid collision path planning based on the transportation task sequence, and improve the work efficiency of AGV.