考虑阻塞的双向AGV路径规划方法

针对制造车间物料搬运系统中的AGV路径规划问题，提出一种考虑阻塞的AGV路径规划方法。依据各相邻节点之间路径中AGV搬运情况的统计数据计算路径的拥堵系数；引入拥堵系数计算AGV的统计搬运时间矩阵，将其作为路径规划的权值矩阵；设计Dijkstra算法求解起始点到终点的最短统计搬运时间路径，将其存入最短统计搬运时间路径表供查询使用。案例分析结果表明：与传统Dijkstra算法相比，考虑阻塞的AGV路径规划方法可以有效降低搬运时间，提高搬运效率。

A Path Planning Method for Bidirectional AGV Considering Blocking

Aiming at the path planning problem of AGV in the material handling system of manufacturing workshop,an AGV path planning method considering blocking was proposed.The congestion coefficient of the path was calculated based on the statistics of the AGV transport in the path between adjacent nodes.The statistical handling time matrix of the AGV was calculated according to the congestion coefficients,which was used as the weight matrix of path planning.Dijkstra algorithm was designed to get the shortest statistical handling time path from the given starting point to the end point,and it was stored in the shortest statistical handling time path table for query.The case study results show that compared with the traditional Dijkstra algorithm,the AGV path planning method considering blocking can effectively reduce the handling time and improve the handling efficiency.