Two-stage Dynamic Path Planning for Multiple AGV Scheduling Systems
LIU Guodong1,2,3, QU Daokui1,2, ZHANG Lei1,2
1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. SIASUN Robot & Automation Co., Ltd., Shenyang 110016, China; 3. Graduate School of the Chinese Academy of Sciences, Beijing 100039, China
Abstract：In order to shorten the R&D period of AGV(automated guided vehicle) systems, reduce the cost of R&D, find out universal scheduling strategy for different maps, and improve robustness to actual scheduling tasks and malfuct, a two-stage dynamic path planning strategy is developed. Multiple AGV scheduling systems are controlled with the two-stage control strategy, and paths are acquired by dynamic path planning. Several AGVs' paths are planned simultaneously in real time and path optimization is achieved with a heuristic algorithm in dynamic path planning. It is proved with simulation that the strategy improves flexibility of AGV systems and is a universal scheduling strategy for different maps.
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