摘要
Abstract
A collaborative optimization model of storage AGV path planning responding to dynamic constraints is designed for planning a collision free path of storage AGV.Path node model and vehicle body coordinate system model are established to obtain the location of AGV in the warehouse.The collision description model is constructed to simplify the global path planning problem to the local environment of the dotted frame.Time window is built to calculate the time windows of empty car line segment and empty car steering segment respectively,obtaining the transportation time under different working conditions.Based on the shortest path as the dynamic constraint condition,the goal programming method is used to solve the generated multiple paths,deal with the conflicts,and realize the collaborative optimization of warehousing AGV path planning.The results of numerical examples show that,based on the 2D top view grid system of unmanned warehouse,there are fewer walking under the working condition with no obstacles,while under the working condition with obstacles,taking two paths as an example,no collision occurs,and the path optimization effect is obvious.关键词
响应动态约束条件/仓储/路径规划/协同优化/目标函数/碰撞Key words
response to dynamic constraints/warehousing/path planning/collaborative optimization/objective function/collision分类
信息技术与安全科学
