The path planning of automated guided vehicle(AGV) affects the efficient and smooth production in a flexible manufacturing workshop. This paper analyzed the common conflict types of multiple AGV performing transport tasks in the workshop, and then proposed a multi-AGV conflict-free path planning method based on dynamic priority strategy. This method detected the specific conflict types by time window, and considered the waiting time, the distance traveled and task urgency as the factors to quantitatively evaluate the dynamic priority, which was then utilized as the selection basis of two conflict reduction methods, i. e., waiting and quadratic path planning. The case study indicates that when the feasible paths of each AGV are known in advance, the proposed method cannot only realize the multi-AGV conflict-free path planning, but also improve the overall efficiency of multiple AGV in completing transport tasks.

[2021-07-05] Printed Article /doc/2020.08.0221/v2