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Alternative TitleTime window online correction-based multi-AGV (Automated Guided Vehicle) path planning method
王智凝; 刘意杨; 白洪飞; 邢韵; 杨仁枫; 曾鹏
Rights Holder中国科学院沈阳自动化研究所
Patent Agent21002 沈阳科苑专利商标代理有限公司
Other AbstractThe invention relates to a time window online correction-based multi-AGV (Automated Guided Vehicle) path planning method. The method includes the following steps that: the operation point sites of anAGV are extracted according to workshop layout information and path information, independent road sections are obtained through division according to the operation point sites; a scheduling system updates an AGV status list and a real-time task list in real time, assigns a task in the real-time task list to an idle AGV, and informs the AGV of a start point and an end point; a feasible path list isestablished, whether a feasible path exists is judged, a task corresponding to the feasible path is added in a time window model, the AGV executes the tasks and feeds back current AGV position information in real time; and whether the current AGV position information is consistent with the position information of the AGV in the time window model is judged, and the time window model is corrected online and updated synchronously. With the time window online correction-based multi-AGV (Automated Guided Vehicle) path planning method of the invention adopted, error accumulation caused by actual errors can be decreased; and a multi-AGV path conflict problem can be solved. The time window online correction-based multi-AGV (Automated Guided Vehicle) path planning is a new dynamic path planning solution suitable for any environment and any number of AGVs, and is suitable for being popularized.
PCT Attributes
Application Date2017-12-27
Date Available2020-10-16
Application NumberCN201711441555.X
Open (Notice) NumberCN109976320B
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
王智凝,刘意杨,白洪飞,等. 一种基于时间窗在线修正的多AGV路径规划方法[P]. 2019-07-05.
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