Path scheduling for multi-AGV system based on two-staged traffic scheduling scheme and genetic algorithm

摘要

An improved two-staged traffic scheduling scheme with Genetic algorithm (GA) are combined in this paper for a multi-AGV (Automated Guided Vehicle) system, containing path planning and conflicts avoidance for multi-AGV, wherein path following for a single AGV and path scheduling with GA for multi-AGV both in off-line and on-line stages. Multiple objectives and constraints are taken into account for on-line GA when some routes in digital map are unable to use due to unavoidable conflicts. A new conflict-free policy is proposed which changes the velocity or routes of the inferior AGV to make their movement harmoniously. Finally, two numerical simulations are used prove the efficacy of traffic scheduling scheme and the adaptability of motion control algorithm respectively.