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  本文關(guān)鍵詞：基于時間窗的自動導引車系統(tǒng)路徑優(yōu)化研究　出處：《蘭州交通大學》2015年碩士論文　論文類型：學位論文

  更多相關(guān)文章： 自動導引車 路徑優(yōu)化 時間窗 沖突解決策略

【摘要】：AGV(Automated Guided Vehicle,自動導引車)是一種用于FMS(Flexible Manufacture System,柔性制造系統(tǒng))和SW(Stereoscopic Warehouse,立體倉庫)實現(xiàn)物料運輸?shù)妮喪揭苿訖C器人。多AGV系統(tǒng)作為LS(Logistics System,物流系統(tǒng))和FMS中的關(guān)鍵子系統(tǒng),由于其高柔性且便于管理,被越來越多應用于物料輸送。路徑優(yōu)化是多AGV系統(tǒng)應用中關(guān)鍵技術(shù)之一,既是研究熱點又是難點,因而對其研究有重要理論和實踐意義。本文在國內(nèi)外學者研究基礎上,對多AGV系統(tǒng)路徑優(yōu)化及協(xié)調(diào)避碰進行研究,主要研究工作包括如下:首先,以固定路線導引AGV為研究對象,確立AGV用于物料輸送的工作環(huán)境,采用拓撲結(jié)構(gòu)法在AGV運行環(huán)境信息已知條件下完成地圖建模。搜索單臺AGV最優(yōu)路徑時將固定時間常數(shù)τ附加于行駛路徑轉(zhuǎn)彎點作為轉(zhuǎn)彎代價懲罰,轉(zhuǎn)彎越多代價越大,并以最短行駛時間為評價指標,通過采用Dijkstra算法離線搜索單臺AGV前K條最短路徑。其次,將K條路徑作為初始路徑,提出以組合疊加方式分別將K條路徑與已運行AGV行駛路徑進行理想時間窗排布、組合疊加更新時間窗和沖突檢測。針對不同類型制定不同沖突解決策略,并以各臺AGV行駛時間總和最小為優(yōu)化指標,實現(xiàn)離線狀態(tài)下基于時間窗的多AGV無碰路徑優(yōu)化。同時在此基礎上采用在線檢測方法針對AGV行駛時的突發(fā)狀況進行檢測,并通過采取改變AGV通過節(jié)點優(yōu)先級策略和等待策略實現(xiàn)多AGV系統(tǒng)在線協(xié)調(diào)。最后,在理論研究基礎上采用Visual Studio2010軟件和Visual C++編程語言建立多AGV地面控制系統(tǒng)仿真平臺,分別對單臺AGV最優(yōu)路徑搜索和多AGV無碰路徑優(yōu)化進行仿真實驗。實驗結(jié)果證明該算法對多AGV無碰路徑優(yōu)化具有有效性和可靠性,可提高系統(tǒng)柔性和效率,為實際生產(chǎn)中多AGV系統(tǒng)應用提供理論依據(jù)和工作指導。
[Abstract]:AGV(Automated Guided Vehicle. Auto-guided vehicle is used for FMS(Flexible Manufacture System. FMS) and SW(Stereoscopic Warehouse. Multi AGV system is the key subsystem of LS(Logistics system (logistics system) and FMS. Because of its high flexibility and easy management, it is more and more used in material transportation. Path optimization is one of the key technologies in the application of multi-#en0# system, which is not only a hot topic but also a difficult point. Therefore, it has important theoretical and practical significance. Based on the research of domestic and foreign scholars, this paper studies the path optimization and coordinated collision avoidance of multi-#en0# system. The main research work includes the following: first. Taking the fixed route guiding AGV as the research object, the working environment of AGV for material transportation is established. The topology method is used to complete the map modeling under the condition that the AGV running environment information is known. When searching for a single AGV optimal path, the fixed time constant 蟿 is appended to the turning point of the driving path as the turning cost penalty. The higher the cost of turning, and the shortest driving time as the evaluation index, using the Dijkstra algorithm offline search single AGV before K shortest path. Secondly, K path as the initial path. In this paper, the ideal time windows of K paths and running AGV paths are arranged by combination superposition, and the time windows and conflict detection are combined. Different conflict resolution strategies are developed for different types. The minimum total driving time of each AGV is taken as the optimization index. The off-line multi-#en0# collision path optimization based on time window is realized, and the on-line detection method is used to detect the burst of AGV driving. And by changing the AGV through the node priority policy and wait policy to achieve multi-#en1# system online coordination. Finally. On the basis of theoretical research, the simulation platform of multi-#en3# ground control system is established by using Visual Studio2010 software and Visual C programming language. The simulation experiments of single AGV optimal path search and multi-#en1# no-collision path optimization show that the algorithm is effective and reliable for multi-#en2# no-collision path optimization. It can improve the flexibility and efficiency of the system, and provide theoretical basis and work instruction for the application of multi-#en0# system in actual production.
【學位授予單位】：蘭州交通大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：TP242

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本文編號：1382119