A parallel algorithm for multi-AGV systems

被引:9
|
作者
Yu, Dingding [1 ]
Hu, Xianliang [1 ]
Liang, Kewei [2 ]
Ying, Jun [3 ]
机构
[1] Zhejiang Univ, Inst Sci & Engn Comp, Hangzhou 310027, Peoples R China
[2] Zhejiang Univ, Inst Stat, Inst Sci & Engn Comp, Hangzhou 310027, Peoples R China
[3] Shanghai Normal Univ, Coll Informat Mech & Elect Engn, Shanghai 200234, Peoples R China
关键词
Multi-AGV system; Parallel algorithm; Path planning; Vehicle navigation; AUTOMATED-GUIDED VEHICLE; COLLISION PREVENTION; CHARGING STATIONS; ROAD DESIGN; OPTIMIZATION; MACHINES; DIJKSTRA; LOCATION;
D O I
10.1007/s12652-021-02987-3
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
Automated guided vehicles are widely used in various applications, especially in manufacturing. In this paper, we present a novel parallel algorithm for multi-AGV systems. The overall structure is composed of three parts: task assignment, path planning, and vehicle navigation. According to the priorities of AGVs, a greedy method is introduced to assign jobs. For path planning, a mixed-integer programming model of a multi-AGV system is formulated, which can be transformed into a series of sub-problems under certain conditions. Then, an improved routing method with a penalty item is adopted to generate the optimal paths of AGVs. To avoid collisions between vehicles, a simple and effective control method based on resource locking is proposed under the premise of parallelization. Furthermore, we design the experiments according to the warehousing systems. Various practical simulations are performed to illustrate the efficiency and robustness of the new algorithm.
引用
收藏
页码:2309 / 2323
页数:15
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