Study on Conflict-free AGVs Path Planning Strategy for Workshop Material Distribution Systems

Abstract

The path planning and conflict problem of Multi-AGV Workshop Material Distribution System (MAWMDS) directly determines the efficiency and coordination of system. To solve this problem, a multi-AGV conflict-free path planning model is established, and a collision avoidance factor is designed to guide the AGV to avoid conflicts. An Improved Ant Colony Particle Swarm Optimization Algorithm (IACPSO) is developed, with this algorithm the AGV path planning and node waiting time are optimized at the same time. Finally, a real case is adopted to illustrate that the model and algorithm proposed can effectively avoid road-section and node conflicts.