AGV地面控制系统及路径规划策略的研究

发布时间：2018-03-09 01:14

本文选题：自动导引小车　切入点：地面控制系统　出处：《华南理工大学》2015年硕士论文　论文类型：学位论文

【摘要】：随着自动化物流系统、柔性制造系统、无人自动化工厂等的逐步发展,自动导引车(Automated Guided Vehicle,AGV)的应用逐步成为企业提高生产效率和物流自动化程度的重要方向。AGV系统的发展对于降低劳动成本、改善劳动条件、实现产业的信息流与物流的统一有着十分重要的作用。AGV地面控制系统的开发是AGV应用的重要组成部分,是系统实现信息化、智能化的重要体现。本文基于视觉导引的AGV系统的开发过程,对AGV地面控制系统及路径规划策略进行研究。主要研究内容包括:首先,在AGV系统组成和工作原理的基础上,对AGV系统整体结构进行了设计,介绍了车载控制系统和地面控制系统,并给出了AGV系统工作流程。其次,对AGV系统路径规划技术进行了研究。基于拓扑建模法构建了AGV系统电子地图,并在对单AGV路径规划方法研究的基础上,提出了一种改进的A*算法用于单AGV路径规划,该算法引入转弯因素,使规划的AGV路径更加平滑。然后针对多AGV路径规划的问题,给出了一种动态时间路径模型,通过注册和删除自动导引小车在路径节点上的登记信息来更新模型。并在此基础上,提出了一种基于A*算法的多AGV动态路径规划方法,该方法对潜在的冲突进行检测,并分类处理,避免了潜在的碰撞和冲突,从而有效的搜索无碰撞最短时间路径。然后,采用面向对象、模块化、多线程技术编程方法开发了AGV地面控制系统软件,具体介绍了各个功能模块的实现,包括数据库模块、路径管理模块、车辆管理模块、任务管理模块、通信管理模块、监控模块。最后,在开发的AGV系统基础上,测试了AGV地面控制系统软件的总体功能,包括AGV路径规划算法的测试,实验表明系统能够实现预期的功能,也验证了AGV路径规划算法的有效性和实用性。
[Abstract]:With the gradual development of automated logistics systems, flexible manufacturing systems, unautomated factories, etc., The application of Automated Guided vehicle (AGV) has gradually become an important direction for enterprises to improve production efficiency and logistics automation. The development of AGV system can reduce labor cost and improve labor conditions. It is very important to realize the unification of industry information flow and logistics. The development of ground control system of AGV is an important part of the application of AGV. Based on the development process of AGV system guided by vision, this paper studies the AGV ground control system and path planning strategy. The main research contents are as follows: firstly, on the basis of the composition and working principle of AGV system, The overall structure of AGV system is designed, vehicle control system and ground control system are introduced, and the workflow of AGV system is given. In this paper, the path planning technology of AGV system is studied. Based on the topology modeling method, the electronic map of AGV system is constructed. Based on the research of single AGV path planning method, an improved A * algorithm is proposed for single AGV path planning. The algorithm introduces the turning factor to make the AGV path smoother. Then a dynamic time path model is proposed to solve the problem of multiple AGV path planning. The model is updated by registering and deleting the registration information of the automatic guided vehicle on the path node. On this basis, a multi-#en0# dynamic path planning method based on the A * algorithm is proposed, which detects the potential conflicts. Classification and processing to avoid potential collisions and conflicts, so as to effectively search for the shortest path without collision. Then, the AGV ground control system software is developed by object-oriented, modular, multi-thread programming method. The realization of each function module is introduced in detail, including database module, path management module, vehicle management module, task management module, communication management module, monitoring module. Finally, on the basis of the AGV system, The overall function of AGV ground control system software, including the AGV path planning algorithm, is tested. The experimental results show that the system can achieve the expected function, and also verify the effectiveness and practicability of the AGV path planning algorithm.
【学位授予单位】：华南理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP273

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