【摘要】：隨著物流系統(tǒng)中AGV數(shù)量越來越多,工廠環(huán)境越來越復(fù)雜,其系統(tǒng)的控制及路徑規(guī)劃變得尤為重要。因此,AGV系統(tǒng)路徑規(guī)劃與避障是本論文重點研究的問題。針對本項目的要求設(shè)計了潛伏牽引式AGV,主要進行了AGV車體模塊化設(shè)計及軟件系統(tǒng)的開發(fā)。軟件系統(tǒng)分為上位服務(wù)器系統(tǒng)和下位機系統(tǒng),主要研究了AGV自動控制及運輸調(diào)度系統(tǒng)。本文主要研究內(nèi)容如下：首先,對AGV系統(tǒng)總體進行了設(shè)計,介紹了AGV系統(tǒng)的功能。對系統(tǒng)的結(jié)構(gòu)及AGV車身進行了設(shè)計,分析了每個分系統(tǒng)的功能及選擇相應(yīng)的硬件,對系統(tǒng)的工作流程進行了簡單介紹。其次,對于單臺AGV路徑規(guī)劃建立了環(huán)境信息模型的電子地圖。在此基礎(chǔ)上,分析Dijkstra算法、A*算法等單AGV路徑規(guī)劃算法特點,結(jié)合系統(tǒng)穩(wěn)定性、實時性等方面的需求,采用A*算法求解AGV最短路徑。再者,對多臺AGV路徑規(guī)劃進行軟件編制,建立調(diào)度策略。對AGV經(jīng)常出現(xiàn)的3種沖突情況進行分析研究,根據(jù)每個算法對沖突的解決策略及各算法的特點進行比較,選擇基于有向圖的多AGV規(guī)劃與基于優(yōu)先權(quán)的交通規(guī)則相結(jié)合的方法來進行多AGV路徑規(guī)劃。最后,對軟件進行詳細介紹及對實驗樣機進行調(diào)試,基本能夠滿足所設(shè)計的系統(tǒng)功能要求,為之后的進一步研究打下堅實的基礎(chǔ)。
[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.
【學(xué)位授予單位】：華東理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：F253.9;TP301.6

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