Research on path planning and scheduling of multi AGVs based on a two-way dual path map

Abstract

With the development of intralogistics technology in factories, multi-AGV scheduling is still an important problem that needs to be solved by the control system. Aiming at the path planning and scheduling problem of automated guided vehicle (AGV) in the factory loading and unloading work, this paper designs a two-way dual path map construction method suitable for the factory, introduces a two-way different weight map construction method suitable for the right path, and uses “simulated road conditions” algorithm to calculate the shorter path, takes the shortest driving distance as the optimization goal to carry out the task scheduling analyzed possible conflicts and gives corresponding solutions. To verify the correctness of the map construction and algorithm, the multi-AGV simulation is carried out by using a robot operating system (ROS). The results show that the proposed method can realize the stable operation of multi-AGV in the factory environment without conflict and collision.