基于无线网络的AGV系统路径规划的研究

发布时间：2018-12-24 13:39

【摘要】：随着物流系统中AGV数量越来越多,工厂环境越来越复杂,其系统的控制及路径规划变得尤为重要。因此,AGV系统路径规划与避障是本论文重点研究的问题。针对本项目的要求设计了潜伏牵引式AGV,主要进行了AGV车体模块化设计及软件系统的开发。软件系统分为上位服务器系统和下位机系统,主要研究了AGV自动控制及运输调度系统。本文主要研究内容如下：首先,对AGV系统总体进行了设计,介绍了AGV系统的功能。对系统的结构及AGV车身进行了设计,分析了每个分系统的功能及选择相应的硬件,对系统的工作流程进行了简单介绍。其次,对于单台AGV路径规划建立了环境信息模型的电子地图。在此基础上,分析Dijkstra算法、A*算法等单AGV路径规划算法特点,结合系统稳定性、实时性等方面的需求,采用A*算法求解AGV最短路径。再者,对多台AGV路径规划进行软件编制,建立调度策略。对AGV经常出现的3种冲突情况进行分析研究,根据每个算法对冲突的解决策略及各算法的特点进行比较,选择基于有向图的多AGV规划与基于优先权的交通规则相结合的方法来进行多AGV路径规划。最后,对软件进行详细介绍及对实验样机进行调试,基本能够满足所设计的系统功能要求,为之后的进一步研究打下坚实的基础。
[Abstract]:With more and more AGV in logistics system and more complex factory environment, the system control and path planning become more and more important. Therefore, path planning and obstacle avoidance in AGV system is the focus of this paper. The latent traction AGV, is designed to meet the requirements of this project. The modular design of AGV carbody and the development of software system are carried out. The software system is divided into upper server system and lower computer system. AGV automatic control and transportation scheduling system are mainly studied. The main contents of this paper are as follows: firstly, the AGV system is designed and the function of AGV system is introduced. The structure of the system and the AGV body are designed. The function of each subsystem and the selection of corresponding hardware are analyzed. The working flow of the system is briefly introduced. Secondly, the electronic map of environment information model is established for a single AGV path planning. On this basis, the characteristics of single AGV path planning algorithm, such as Dijkstra algorithm and A * algorithm, are analyzed. Combining with the requirements of system stability and real-time, the AGV shortest path is solved by using A * algorithm. Furthermore, many AGV path planning software is compiled and scheduling strategy is established. This paper analyzes and studies three kinds of conflict situations that often occur in AGV, and compares the conflict resolution strategies and the characteristics of each algorithm according to each algorithm. Multiple AGV planning based on directed graph and traffic rules based on priority are selected to carry out multiple AGV path planning. Finally, the detailed introduction of the software and the debugging of the experimental prototype can basically meet the functional requirements of the designed system and lay a solid foundation for further research.
【学位授予单位】：华东理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：F253.9;TP301.6

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