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Path Planning and Scheduling for Multiple AGV System Based on Improved Two-staged Traffic Control Sc

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Tutor: LouPeiHuang
School: Nanjing University of Aeronautics and Astronautics
Course: Mechanical and Electronic Engineering
Keywords: AGV,Two-stage control strategy,Genetic algorithm with constraints,Dynamic Route
CLC: TP242
Type: Master's thesis
Year:  2008
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With the wide application of the automatic guided vehicles ( Automated Guided Vehicle , AGV ) , how to achieve the AGV system optimization scheduling key issue for the efficient operation of automated material handling systems . The goal of this study is to achieve the AGV system to trigger the task with the highest efficiency of the system , the shortest time collision-free run . In this paper , on the basis of the relevant literature data , to improve the traditional two-stage control theory , control theory based on an improved two-stage the AGVs control scheduling policy . The control strategy includes two parts generate a path table offline and online traffic control . With genetic algorithm generated off-line the k optimal path , stored in the path library , when scheduling order was given , using the online traffic control rules them online path planning with Constrained k paths can not meet the conditions multi-objective genetic algorithm to calculate the optimal path online . In this paper, the electronic map on the basis of multi-objective genetic algorithm with constraints offline k shortest paths to find and online constrained optimal path . Online traffic control stage , the use of traffic rules online traffic planning , conflict resolution and take speed adjustment mode to resolve various conflicts , path planning and scheduling optimization . In this paper , on the basis of theoretical studies , by eM-Plant system simulation as well as examples of the actual verification show that the proposed path planning and scheduling optimization strategy , greatly increasing the the AGV scheduling system flexibility, efficiency and robustness , improved the efficiency of the system for AGVs application in the actual production system provides a theoretical basis and technical basis . Finally, a brief summary of research work done on this article , and further research prospects .
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