Path planning method for AGV dynamic collision avoidance based on time window

Sun Maomao
Kuang Bing
School of Mechanical & Electrical Engineering, Guilin University of Electronic Technology, Guilin Guangxi 541000, China

Abstract

In order to solve the problem of collision free path planning and system efficiency improvement of multi AGV in dynamic unstable environment, this paper proposed a collision free path planning method based on time window for AGV. Firstly, this paper established a multi-AGV collision avoidance model, combined with the time window model, and divided the collision-free path planning of multiple AGV into two stages: pre-planning and real-time planning. In the pre-planning stage, this paper calculated the conflict-free time window of multiple AGV and maximized the circulation of AGV in the system. In the real-time planning stage, this paper used the method of changing the AGV's occupancy priority on the collision avoidance model and local re-planning to dynamically avoid collisions. Finally, a simulation experiment with a smart warehouse as an application case proves that the algorithm can effectively avoid the collision of multiple AGV, increase the circulation of AGV, and has good robustness and flexibility in a dynamic environment.

Foundation Support

桂林电子科技大学研究生教育创新计划项目(2020YCXS015)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2021.05.0211
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 1
Section: Algorithm Research & Explore
Pages: 54-58
Serial Number: 1001-3695(2022)01-009-0054-05

Publish History

[2021-10-12] Accepted Paper
[2022-01-05] Printed Article

Cite This Article

孙毛毛, 匡兵. 基于时间窗的AGV动态避碰路径规划方法 [J]. 计算机应用研究, 2022, 39 (1): 54-58. (Sun Maomao, Kuang Bing. Path planning method for AGV dynamic collision avoidance based on time window [J]. Application Research of Computers, 2022, 39 (1): 54-58. )

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  • Application Research of Computers Monthly Journal
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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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